CN113352350B - Fixing device and robot with same - Google Patents
Fixing device and robot with same Download PDFInfo
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- CN113352350B CN113352350B CN202010148085.3A CN202010148085A CN113352350B CN 113352350 B CN113352350 B CN 113352350B CN 202010148085 A CN202010148085 A CN 202010148085A CN 113352350 B CN113352350 B CN 113352350B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention provides a fixing device and a robot with the same, comprising: a main body mounted on an external mobile device; the upper fixing part is arranged at the upper end of the main body and has an upper fixing state abutting against the upper end wall of the external space and an upper avoiding state avoiding the upper end wall of the external space; the lower fixing part is arranged at the lower end of the main body and is provided with a lower fixing state abutting against the lower end wall of the external space and a lower avoiding state avoiding the lower end wall of the external space, and under the condition that the lower fixing part is in the lower fixing state, an abdicating space for abdicating the external mobile equipment is arranged between the bottom of the lower fixing part and the lower end wall of the external space. The fixing device can effectively fix the external mobile equipment by simultaneously fixing the upper fixing part and the lower fixing part, and avoids the problem of shaking in the operation process caused by the fact that the existing mobile robot is not fixed with an external space during operation.
Description
Technical Field
The invention relates to the technical field of robot fixing equipment, in particular to a fixing device and a robot with the same.
Background
Most of the existing robots have a moving function, and the moving robot moves through wheels, stops positioning through a brake when moving to a working position, and waits for operation. However, relative motion between the wheels and the ground during operation can easily cause the whole robot to shake, and particularly when the operation area of the execution end is far away from the gravity center of the robot, the shake is very obvious if the robot arm is extended long. The shaking can greatly affect the operation precision. The shaking can cause the robot to work abnormally in the occasions that the working range is far away from the center of the robot and the execution end is heavy.
Disclosure of Invention
The invention mainly aims to provide a fixing device and a robot with the same, so as to solve the problem that the robot in the prior art cannot be stably fixed.
In order to achieve the above object, according to one aspect of the present invention, there is provided a fixing device including: a main body mounted on an external mobile device; the upper fixing part is arranged at the upper end of the main body and has an upper fixing state abutting against the upper end wall of the external space and an upper avoiding state avoiding the upper end wall of the external space; the lower fixing part is arranged at the lower end of the main body and is provided with a lower fixing state abutting against the lower end wall of the external space and a lower avoiding state avoiding the lower end wall of the external space, and under the condition that the lower fixing part is in the lower fixing state, an abdicating space for abdicating the external mobile equipment is arranged between the bottom of the lower fixing part and the lower end wall of the external space.
Furthermore, the upper fixing part comprises a plurality of upper supporting parts, each upper supporting part comprises an upper supporting leg and an upper driving part, each upper driving part is installed inside the corresponding main body, each upper supporting leg is in driving connection with the corresponding upper driving part, and the plurality of upper supporting legs extend out and abut against the upper end wall of the outer space when the upper fixing part is in the upper fixing state.
Furthermore, go up drive division including drive actuating cylinder and with drive actuating cylinder drive connection's last connecting rod transmission assembly, drive actuating cylinder and install in the main part, go up the support leg and be connected with the drive of last connecting rod transmission assembly.
Further, the main part includes the cylinder, goes up the drive division and still includes the transmission post, goes up the transmission post and is connected with the output that drives actuating cylinder, goes up the movably installation of transmission post inside the cylinder, goes up connecting rod transmission assembly and includes: the first end of the first transmission rod is pivoted with the upper end of the upper transmission column; the first end of the second transmission rod is pivoted with the column body, the second end of the second transmission rod is pivoted with the upper support leg, and the second end of the first transmission rod is pivoted in the middle of the second transmission rod; and the first end of the third transmission rod is pivoted with the column body, the second end of the third transmission rod is pivoted with the upper support leg, and the pivoting shaft of the third transmission rod and the upper support leg is positioned at the bottom of the pivoting shaft of the second transmission rod and the upper support leg.
Further, the column body further comprises: the upper driving rod is connected with the upper end of the upper transmission column, the extension direction of the upper driving rod is vertical to the axis of the column body, and the first end of the first transmission rod is pivoted with the upper driving rod; the first upper fixing rod is connected with the outer wall of the column body, the first upper fixing rod is parallel to the upper driving rod, and the first end of the second driving rod is pivoted with the first upper fixing rod; the second upper fixing rod is connected with the outer wall of the column body, the second upper fixing rod is parallel to the first upper fixing rod and is located on the lower portion of the first upper fixing rod, and the first end of the third transmission rod is pivoted with the second upper fixing rod.
Further, the lower fixing portion comprises a plurality of lower supporting portions, the lower supporting portions comprise lower supporting legs and lower driving portions, the lower driving portions are installed at the lower end of the main body, the lower supporting legs are in driving connection with the lower driving portions, under the condition that the lower fixing portions are in the lower fixing state, the lower supporting legs stretch out and abut against the lower end wall of the external space, and yielding spaces are formed between the lower supporting legs and the lower end wall of the external space.
Further, the lower support part comprises a driving motor and a lower connecting rod transmission assembly in driving connection with the driving motor, the driving motor is installed in the main body, and the lower support legs are in driving connection with the lower connecting rod transmission assembly.
Further, the main part includes the cylinder, lower drive division still include the lead screw and with lead screw transmission complex lower driving disk, the lead screw is connected with driving motor's output, lower driving disk is movably installed inside the cylinder, lower connecting rod drive assembly includes: a first end of the fourth transmission rod is pivoted with the lower transmission disc; the first end of the fifth transmission rod is pivoted with the column body, the second end of the fifth transmission rod is pivoted with the lower supporting leg, and the second end of the fourth transmission rod is pivoted in the middle of the fifth transmission rod; and the first end of the sixth transmission rod is pivoted with the column body, the second end of the sixth transmission rod is pivoted with the lower supporting leg, and the pivoting shaft of the sixth transmission rod and the lower supporting leg is positioned at the bottom of the pivoting shaft of the fifth transmission rod and the lower supporting leg.
Further, the upper end of lower supporting leg is crooked to the direction that is close to the cylinder axis, is provided with the slot hole of stepping down on the lateral wall of cylinder, and the extending direction of the slot hole of stepping down is parallel with the cylinder axis, and the cylinder still includes: the lower driving rod is connected with the lower transmission disc, the extending direction of the lower driving rod is perpendicular to the axis of the column body, the first end of the fourth driving rod is pivoted with the lower driving rod, and the lower driving rod penetrates through the abdicating long hole; the first lower fixing rod is connected with the outer wall of the column body, the first lower fixing rod is parallel to the lower driving rod, and the first end of the fifth driving rod is pivoted with the first lower fixing rod; and the second lower fixing rod is connected with the outer wall of the column body, is parallel to the first lower fixing rod and is positioned at the lower part of the first lower fixing rod, and the first end of the sixth transmission rod is pivoted with the second lower fixing rod.
According to another aspect of the present invention, there is provided a robot comprising a mobile device and a fixing device mounted on the mobile device, the fixing device being the above-mentioned fixing device.
By applying the technical scheme of the invention, the fixing device not only has the upper fixing part, but also has the lower fixing part, the upper end wall and/or the lower end wall of the external space can be flexibly fixed, in addition, under the condition that the lower fixing part is in the lower fixing state, an abdicating space is formed between the lower fixing part and the lower end wall of the external space so as to avoid external mobile equipment, such as a mobile device of a robot and the like, the external mobile equipment can be effectively fixed by simultaneously keeping the upper fixing part and the lower fixing part in the fixing state, and the problem of shaking in the operation process caused by the fact that the existing mobile robot is not fixed with the external space in the operation process is avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram showing the structure of an embodiment of the fixing apparatus of the present invention in which an upper fixing portion and a lower fixing portion are in a fixed state;
FIG. 2 is a schematic diagram showing the configuration of an embodiment in which the upper fixing portion and the lower fixing portion of the fixing device of the present invention are both in an escape state;
FIG. 3 is a schematic view showing an internal structure of an embodiment of the fixing device of the present invention in which both the upper fixing portion and the lower fixing portion are in an evacuated state;
fig. 4 is a schematic diagram showing an internal structure of an embodiment of the robot according to the present invention in which both the upper fixing portion and the lower fixing portion are in a fixed state.
Wherein the figures include the following reference numerals:
1. a main body; 2. a first upper fixing rod; 3. a first drive lever; 4. a second transmission rod; 5. a second upper fixing rod; 6. an upper drive post; 7. an upper support leg; 8. a third transmission rod; 9. an upper drive rod; 10. a driving cylinder; 11. a lower drive rod; 12. a lower support leg; 13. a fifth transmission rod; 131. a sixth transmission rod; 14. a fourth transmission rod; 15. a second lower fixing rod; 17. a speed reducer; 18. a drive motor; 19. a coupling; 20. a screw rod; 21. a first lower fixing bar; 22. a lower transmission disc; 30. an upper fixing portion; 31. an upper support section; 40. a lower fixing portion; 41. a lower support section; 42. a space of abdicating; 50. a mobile device.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As described in the background art, most of the existing robots have a moving function, and a mobile machine moves by wheels, stops positioning by a brake when moving to a working position, and waits for work. However, relative motion between the wheels and the ground during operation can easily cause the whole robot to shake, and particularly when the operation area of the execution end is far away from the gravity center of the robot, the shake is very obvious if the robot arm is extended long. The shaking can greatly affect the operation precision. The shaking can cause the robot to work abnormally in the occasions that the working range is far away from the center of the robot and the execution end is heavy.
In order to solve the above problems, referring to fig. 1 to 4, according to an aspect of the present invention, there is provided a fixing device, which includes a main body 1, an upper fixing portion 30, and a lower fixing portion 40, wherein the main body 1 is mounted on an external mobile device; the upper fixing portion 30 is provided at the upper end of the main body 1, and the upper fixing portion 30 has an upper fixing state abutting against the upper end wall of the external space and an upper avoidance state avoiding the upper end wall of the external space; the lower fixing portion 40 is provided at the lower end of the main body 1, the lower fixing portion 40 has a lower fixing state abutting against the lower end wall of the external space and a lower retracted state retracted from the lower end wall of the external space, and when the lower fixing portion 40 is in the lower fixing state, a retracted space 42 for retracting the external mobile device is provided between the bottom of the lower fixing portion 40 and the lower end wall of the external space. The fixing device provided by the invention is provided with the upper fixing part and the lower fixing part, so that the upper end wall and/or the lower end wall of the external space can be flexibly fixed, in addition, under the condition that the lower fixing part is in a lower fixing state, a yielding space is formed between the lower fixing part and the lower end wall of the external space so as to avoid external mobile equipment, such as a mobile device of a robot and the like, the external mobile equipment can be effectively fixed through the simultaneous fixing state of the upper fixing part and the lower fixing part, and the problem of shaking in the operation process caused by the fact that the existing mobile robot is not fixed with the external space in the operation process is avoided.
Referring to fig. 3, the upper fixing portion 30 of the present embodiment includes a plurality of upper supporting portions 31, each of the upper supporting portions 31 includes an upper supporting leg 7 and an upper driving portion, the upper driving portion is installed inside the main body 1, the upper supporting leg 7 is drivingly connected to the upper driving portion, and the plurality of upper supporting legs 7 extend out and abut on an upper end wall of the external space when the upper fixing portion 30 is in the upper fixing state. The switching of the upper fixing part from the upper fixing state to the upper avoiding state is realized through the extension and retraction of the upper supporting legs, wherein the number of the upper supporting parts is preferably four, and the number can be increased or decreased according to the specific use space, such as three, five and the like. Preferably, the bottom of the upper supporting leg is provided with an antiskid rubber pad.
The upper driving part in this embodiment includes a driving cylinder 10 and an upper connecting rod transmission assembly in driving connection with the driving cylinder 10, the driving cylinder 10 is installed in the main body 1, and the upper support leg 7 is in driving connection with the upper connecting rod transmission assembly. Of course, the present embodiment may also be driven by a linear driving motor, and may also be driven by other power sources having a driving function.
Specifically, the main body 1 in this embodiment includes a cylinder, the upper driving portion further includes an upper transmission column 6, the upper transmission column 6 is connected to an output end of the driving cylinder 10, the upper transmission column 6 is movably installed inside the cylinder, the upper link transmission assembly includes a first transmission rod 3, a second transmission rod 4 and a third transmission rod 8, wherein a first end of the first transmission rod 3 is pivotally connected to an upper end of the upper transmission column 6; the first end of the second transmission rod 4 is pivoted with the column body, the second end of the second transmission rod 4 is pivoted with the upper support leg 7, and the second end of the first transmission rod 3 is pivoted in the middle of the second transmission rod 4; the first end of the third transmission rod 8 is pivoted with the column body, the second end of the third transmission rod 8 is pivoted with the upper supporting leg 7, and the pivoting shaft of the third transmission rod 8 and the upper supporting leg 7 is positioned at the bottom of the pivoting shaft of the second transmission rod 4 and the upper supporting leg 7. During operation, drive actuating cylinder drive upper drive post and upwards stretch out, and then make first transfer line motion to drive second transfer line and third transfer line through first transfer line, realize opening of connecting rod drive assembly, make the upper support leg stretch out and support and lean on the upper end wall of exterior space, accomplish the fixing to upper portion.
In order to avoid interference between the mechanisms, the column in this embodiment further includes an upper driving rod 9, a first upper fixing rod 2 and a second upper fixing rod 5, wherein the upper driving rod 9 is connected with the upper end of the upper transmission column 6, the extending direction of the upper driving rod 9 is perpendicular to the axis of the column, and the first end of the first transmission rod 3 is pivoted with the upper driving rod 9; the first upper fixing rod 2 is connected with the outer wall of the column body, the first upper fixing rod 2 is parallel to the upper driving rod 9, and the first end of the second transmission rod 4 is pivoted with the first upper fixing rod 2; the second upper fixing rod 5 is connected with the outer wall of the column body, the second upper fixing rod 5 is parallel to the first upper fixing rod 2 and is positioned at the lower part of the first upper fixing rod 2, and the first end of the third transmission rod 8 is pivoted with the second upper fixing rod 5.
Referring to fig. 3, the lower fixing part 40 of the present embodiment includes a plurality of lower supporting parts 41, the lower supporting parts 41 include lower supporting legs 12 and a lower driving part installed at the lower end of the main body 1, the lower supporting legs 12 are drivingly connected to the lower driving part, and in the case where the lower fixing part 40 is in the lower fixing state, the plurality of lower supporting legs 12 are protruded and abutted on the lower end wall of the external space, and an escape space 42 is formed between the plurality of lower supporting legs 12 and the lower end wall of the external space. The switching of the lower fixing part from the lower fixing state to the lower avoiding state is realized through the extension and retraction of the plurality of lower supporting legs, wherein the number of the lower supporting parts is preferably four, and the number can be increased or decreased according to the specific use space, such as three, five and the like. Preferably, the bottom of the lower supporting leg is provided with an anti-skid rubber pad.
The lower support part 41 in this embodiment includes a driving motor 18 and a lower link transmission assembly in driving connection with the driving motor 18, the driving motor 18 is installed in the main body 1, and the lower support leg 12 is in driving connection with the lower link transmission assembly, or may be implemented by using other power sources with driving functions.
Specifically, the main body 1 in this embodiment includes a column, the lower driving portion further includes a screw rod 20 and a lower transmission disc 22 in transmission fit with the screw rod 20, the screw rod 20 is connected with an output end of the driving motor 18, the lower transmission disc 22 is movably installed inside the column, the lower link transmission assembly includes a fourth transmission rod 14, a fifth transmission rod 13 and a sixth transmission rod 131, and a first end of the fourth transmission rod 14 is pivoted with the lower transmission disc 22; a first end of a fifth transmission rod 13 is pivoted with the column, a second end of the fifth transmission rod 13 is pivoted with the lower supporting leg 12, and a second end of a fourth transmission rod 14 is pivoted in the middle of the fifth transmission rod 13; the first end of the sixth transmission rod 131 is pivoted to the column, the second end of the sixth transmission rod 131 is pivoted to the lower support leg 12, and the pivoting shaft of the sixth transmission rod 131 and the lower support leg 12 is located at the bottom of the pivoting shaft of the fifth transmission rod 13 and the lower support leg 12.
During operation, driving motor slows down through the reduction gear to through the transmission of shaft coupling 19, make the drive lead screw rotatory, and then make with lead screw complex lower transmission dish upward movement, transmit the power of lower transmission dish for fifth transfer line and sixth transfer line through the fourth transfer line, and then make the supporting leg stretch out the support, carry out the transmission through setting up the lead screw, can guarantee the motion precision of lower transmission dish effectively.
In order to avoid interference between mechanisms, in this embodiment, the upper end of the lower support leg 12 is bent in a direction close to the axis of the column, an abdicating slot is formed in the side wall of the column, the extending direction of the abdicating slot is parallel to the axis of the column, the column further includes a lower drive rod 11, a first lower fixed rod 21 and a second lower fixed rod 15, the lower drive rod 11 is connected with a lower transmission disc 22, the extending direction of the lower drive rod 11 is perpendicular to the axis of the column, the first end of a fourth drive rod 14 is pivoted with the lower drive rod 11, and the lower drive rod 11 is inserted into the abdicating slot; the first lower fixing rod 21 is connected with the outer wall of the column body, the first lower fixing rod 21 is parallel to the lower driving rod 11, and the first end of the fifth transmission rod 13 is pivoted with the first lower fixing rod 21; the second lower fixing rod 15 is connected to the outer wall of the column, the second lower fixing rod 15 is parallel to the first lower fixing rod 21 and is located at the lower portion of the first lower fixing rod 21, and a first end of the sixth transmission rod 131 is pivotally connected to the second lower fixing rod 15.
According to another aspect of the present invention, there is provided a robot comprising a mobile device and a fixing device mounted on the mobile device, the fixing device being the above-mentioned fixing device. Wherein, the mobile device is preferably an intelligent mobile trolley.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the fixing device provided by the invention is provided with the upper fixing part and the lower fixing part, so that the upper end wall and/or the lower end wall of the external space can be flexibly fixed, in addition, under the condition that the lower fixing part is in a lower fixing state, a yielding space is formed between the lower fixing part and the lower end wall of the external space so as to avoid external mobile equipment, such as a mobile device of a robot and the like, the external mobile equipment can be effectively fixed through the simultaneous fixing state of the upper fixing part and the lower fixing part, and the problem of shaking in the operation process caused by the fact that the existing mobile robot is not fixed with the external space in the operation process is avoided.
It should be noted that the above detailed description is exemplary and is intended to provide further explanation of the disclosure. 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 application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.
Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "above … … surface," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the foregoing detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, like numerals typically identify like components, unless context dictates otherwise. The illustrated embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented here. It will be readily understood that the aspects of the present disclosure, as generally described herein, and illustrated in the figures, can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are explicitly contemplated herein.
The present disclosure in accordance with certain embodiments described herein is not to be limited in scope by the specific aspects illustrated. As will be apparent to those skilled in the art, many modifications and variations are possible without departing from the spirit and scope of the disclosure. Functionally equivalent methods and apparatuses, in addition to those enumerated herein, will be apparent to those skilled in the art from the foregoing description, within the scope of the present disclosure. Such modifications and variations are intended to fall within the scope of the appended claims. The disclosure is to be limited only by the terms of the appended claims, along with the full scope of equivalents to which such claims are entitled. It is to be understood that this disclosure is not limited to particular methods, reagents, compounds, compositions or biological systems, which can, of course, vary. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A fixation device, comprising:
a main body (1), the main body (1) being mounted on an external mobile device;
an upper fixing portion (30), the upper fixing portion (30) being provided at an upper end of the main body (1), the upper fixing portion (30) having an upper fixing state abutting against an upper end wall of the external space and an upper escape state escaping from the upper end wall of the external space;
the lower fixing part (40) is arranged at the lower end of the main body (1), the lower fixing part (40) has a lower fixing state abutting against the lower end wall of the external space and a lower avoiding state avoiding the lower end wall of the external space, and under the condition that the lower fixing part (40) is in the lower fixing state, an abdicating space (42) abdicating the external mobile equipment is arranged between the bottom of the lower fixing part (40) and the lower end wall of the external space;
the upper fixing part (30) comprises a plurality of upper supporting parts (31), each upper supporting part (31) comprises an upper supporting leg (7) and an upper driving part, each upper driving part is installed inside the main body (1), each upper supporting leg (7) is in driving connection with each upper driving part, and under the condition that the upper fixing part (30) is in the upper fixing state, the plurality of upper supporting legs (7) extend out and abut against the upper end wall of an external space;
the upper driving part comprises a driving cylinder (10) and an upper connecting rod transmission assembly in driving connection with the driving cylinder (10), the driving cylinder (10) is installed in the main body (1), and the upper supporting leg (7) is in driving connection with the upper connecting rod transmission assembly;
main part (1) includes the cylinder, go up drive division still includes transmission post (6), go up transmission post (6) with the output that drives actuating cylinder (10) is connected, it movably installs to go up transmission post (6) inside the cylinder, go up connecting rod transmission assembly and include:
the first end of the first transmission rod (3) is pivoted with the upper end of the upper transmission column (6);
the first end of the second transmission rod (4) is pivoted with the column body, the second end of the second transmission rod (4) is pivoted with the upper supporting leg (7), and the second end of the first transmission rod (3) is pivoted in the middle of the second transmission rod (4);
third transfer line (8), the first end of third transfer line (8) with the cylinder pin joint, the second end of third transfer line (8) with go up supporting leg (7) pin joint, third transfer line (8) with the pin joint axle of going up supporting leg (7) is located second transfer line (4) with the bottom of the pin joint axle of going up supporting leg (7).
2. The fixation device of claim 1, wherein the post further comprises:
the upper driving rod (9), the upper driving rod (9) is connected with the upper end of the upper transmission column (6), the extending direction of the upper driving rod (9) is vertical to the axis of the column body, and the first end of the first transmission rod (3) is pivoted with the upper driving rod (9);
the first upper fixing rod (2) is connected with the outer wall of the column body, the first upper fixing rod (2) is parallel to the upper driving rod (9), and the first end of the second transmission rod (4) is pivoted with the first upper fixing rod (2);
the upper fixing rod (5) is connected with the outer wall of the column body, the upper fixing rod (5) is parallel to the upper fixing rod (2) and located at the lower portion of the upper fixing rod (2), and the first end of the third transmission rod (8) is pivoted with the upper fixing rod (5).
3. The fixing device according to claim 1, wherein the lower fixing portion (40) includes a plurality of lower supporting portions (41), the lower supporting portions (41) include lower supporting legs (12) and lower driving portions, the lower driving portions are installed at the lower end of the main body (1), the lower supporting legs (12) are in driving connection with the lower driving portions, in the case that the lower fixing portion (40) is in the lower fixing state, the plurality of lower supporting legs (12) are extended and abutted on the lower end wall of the outer space, and the abdicating space (42) is formed between the plurality of lower supporting legs (12) and the lower end wall of the outer space.
4. A fixing device according to claim 3, characterized in that the lower support part (41) comprises a drive motor (18) and a lower link transmission assembly in driving connection with the drive motor (18), the drive motor (18) being mounted in the main body (1), the lower support leg (12) being in driving connection with the lower link transmission assembly.
5. The fixing device according to claim 4, wherein the main body (1) comprises a cylinder, the lower driving part further comprises a screw rod (20) and a lower transmission disc (22) in transmission fit with the screw rod (20), the screw rod (20) is connected with the output end of the driving motor (18), the lower transmission disc (22) is movably installed inside the cylinder, and the lower connecting rod transmission assembly comprises:
a fourth transmission rod (14), wherein a first end of the fourth transmission rod (14) is pivoted with the lower transmission disc (22);
a first end of the fifth transmission rod (13) is pivoted with the column, a second end of the fifth transmission rod (13) is pivoted with the lower supporting leg (12), and a second end of the fourth transmission rod (14) is pivoted in the middle of the fifth transmission rod (13);
the first end of the sixth transmission rod (131) is pivoted with the column, the second end of the sixth transmission rod (131) is pivoted with the lower supporting leg (12), and the pivoting shaft of the sixth transmission rod (131) and the lower supporting leg (12) is located at the bottom of the pivoting shaft of the fifth transmission rod (13) and the lower supporting leg (12).
6. A fixing device according to claim 5, characterized in that the upper end of the lower support leg (12) is bent towards the direction close to the column axis, an abdicating long hole is provided on the side wall of the column, the extending direction of the abdicating long hole is parallel to the column axis, the column further comprises:
the lower driving rod (11), the lower driving rod (11) is connected with the lower transmission disc (22), the extending direction of the lower driving rod (11) is perpendicular to the axis of the cylinder, the first end of the fourth transmission rod (14) is pivoted with the lower driving rod (11), and the lower driving rod (11) penetrates through the abdicating long hole;
the first lower fixing rod (21) is connected with the outer wall of the column body, the first lower fixing rod (21) is parallel to the lower driving rod (11), and the first end of the fifth transmission rod (13) is pivoted with the first lower fixing rod (21);
the second lower fixing rod (15), the second lower fixing rod (15) is connected with the outer wall of the column body, the second lower fixing rod (15) is parallel to the first lower fixing rod (21) and is located at the lower portion of the first lower fixing rod (21), and the first end of the sixth transmission rod (131) is pivoted with the second lower fixing rod (15).
7. A robot, characterized in that it comprises a moving means (50) and a fixing means mounted on said moving means (50), said fixing means being as claimed in any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010148085.3A CN113352350B (en) | 2020-03-05 | 2020-03-05 | Fixing device and robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010148085.3A CN113352350B (en) | 2020-03-05 | 2020-03-05 | Fixing device and robot with same |
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| JP2523215B2 (en) * | 1990-08-20 | 1996-08-07 | 株式会社クボタ | In-pipe traveling robot |
| KR100392816B1 (en) * | 2002-08-07 | 2003-07-28 | 최혁렬 | Robot steering apparatus for inspection pipelines |
| JP2011506090A (en) * | 2007-12-19 | 2011-03-03 | メッツオ ミネラルズ インク． | Method for moving material processing apparatus, processing apparatus for processing mineral material, and frame for processing apparatus |
| KR101255674B1 (en) * | 2011-11-02 | 2013-04-17 | 연세대학교 산학협력단 | In pipe driving robot |
| CN102828636B (en) * | 2012-09-17 | 2014-10-29 | 梁渤涛 | Supporting mobile mechanism of mobile case for avoidance free three-dimensional parking place |
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