CN115194820A - Mechanism building method of robot - Google Patents
Mechanism building method of robot Download PDFInfo
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- CN115194820A CN115194820A CN202110376649.3A CN202110376649A CN115194820A CN 115194820 A CN115194820 A CN 115194820A CN 202110376649 A CN202110376649 A CN 202110376649A CN 115194820 A CN115194820 A CN 115194820A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 230000009471 action Effects 0.000 claims abstract description 10
- 238000013016 damping Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 6
- 230000003139 buffering effect Effects 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 3
- 230000010354 integration Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 210000005239 tubule Anatomy 0.000 description 1
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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
- B25J19/007—Means or methods for designing or fabricating manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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Abstract
The invention relates to a mechanism building method of a robot. The robot comprises a driving part, a connecting part, an executing part, a buffering part and a rack, wherein the driving part, the connecting part, the executing part, the buffering part and the rack are used as basic units, the basic units are firstly used for constructing mechanical arms, the executing part and the rack are connected to the mechanical arms to form mechanical arms, and a plurality of mechanical arms are combined to form the robot according to the target action of the robot. The construction method of the robot mechanism enables the construction of the robot to be modularized and standardized, a user can select a proper base module to freely assemble according to requirements, and the robot mechanism comprises any arm, an arm rod with adjustable length, an arm rod with any degree of freedom and the like, so that the process is simplified, and the cost is saved.
Description
Technical Field
The invention relates to the field of robots, in particular to a mechanism building method of a robot.
Background
The existing robot is built in a mode of combining program control and mechanical structure design basically, so that according to use occasions, besides the design in the aspect of software, a mechanical structure engineer is required to design the mechanical structure of the robot according to specific use scenes, for example, the robot moves on a flat ground, moves on a rugged ground and needs multiple manipulators to coordinate and the like. For different application scenarios, parts with different sizes are often needed, so that the manufacturing cost of the robot is increased, and the process is complicated. Therefore, if the robot is designed in a modular mode, the robot can be freely assembled according to the requirements of use scenes, the working efficiency can be greatly improved, and meanwhile great convenience is provided for the work of software engineers. The modular robot can increase or decrease the number of modules per se and change the form of the modular robot per se at the same time so as to adapt to various complex environments and complete various operation instructions.
To realize the modularized installation of the robot, the structure and the installation mode of the driving part are very important, and the connection between the driving part and the rod piece is complex, which can increase the difficulty of the robot installation. With the modular design of robot, the key lies in there is suitable driving piece, requires that the driving piece is small, and light in weight can be applicable to various arms to can make things convenient for quick connection with the arm. The existing robot driving piece is limited in integration degree and large in size, and meanwhile, due to the fact that pipelines, driving motors and the like are usually arranged inside an arm in the existing connection mode of the mechanical arm and a joint, the installation is complex, the mechanical arm rod is thick, and the weight of the robot is increased.
Disclosure of Invention
The invention provides a mechanism building method of a robot. The robot comprises a driving part, a connecting part, an executing part, a buffering part and a rack, wherein the driving part, the connecting part, the executing part, the buffering part and the rack are used as basic units, the basic units are firstly used for constructing mechanical arms, a plurality of mechanical arms are combined to form a multi-degree-of-freedom mechanical arm, the executing part and the rack are connected to the mechanical arms to form a mechanical arm, and the plurality of mechanical arms are combined to form the robot according to the target action of the robot.
The mechanical arm is formed by building a driving piece and a first connecting piece, the first connecting piece can be a rod piece with a certain length, and a third connecting structure and a fourth connecting structure are arranged at two ends of the rod piece respectively. When the third connecting structure or the fourth connecting structure is connected with a driving piece, a single-degree-of-freedom arm piece is formed; when the third connecting structure and the fourth connecting structure are respectively connected with a driving piece, a two-degree-of-freedom arm piece is formed. The second connecting piece comprises at least two intersecting planes, preferably two planes perpendicular to each other, and a fifth connecting structure and a sixth connecting structure are respectively arranged in the two planes. When the fifth connecting structure or the sixth connecting structure is connected with a driving piece, a single-degree-of-freedom joint is formed; when the fifth connecting structure or the sixth connecting structure is respectively connected with a driving piece, a two-degree-of-freedom joint is formed.
The mechanical arm can be a single degree of freedom or multiple degrees of freedom, and when the mechanical arm is a single degree of freedom, the connecting structure of the driving part can be respectively connected with the frame and the executing part to form the mechanical arm.
The robot is formed by combining a plurality of mechanical arms, which can be a six-leg robot, a second-hand two-leg robot, a four-leg second-hand robot and the like, and the constructed mechanical arms are combined according to the target action of the robot.
Specifically, the invention achieves the above object by the following technical scheme:
a mechanism building method of a robot is characterized in that the robot is built through at least two basic units, wherein each basic unit comprises a driving piece, a connecting piece, an executing piece and a rack; the driving piece comprises a first connecting part, a second connecting part and a driving device for driving the first connecting part to rotate relative to the second connecting part, wherein a first connecting structure is arranged on the first connecting part, and a second connecting structure is arranged on the second connecting part; the connecting piece comprises a first connecting piece and a second connecting piece, and a third connecting structure and a fourth connecting structure are arranged on the first connecting piece; the second connecting piece at least comprises a fifth connecting structure and a sixth connecting structure, and connecting surfaces of the fifth connecting structure and the sixth connecting structure are not on the same plane;
the method comprises the following steps:
step one, a mechanical arm is built by the basic unit, and the mechanical arm comprises an arm and/or a joint;
the arm piece is constructed by a first connecting piece and a driving piece, the arm piece comprises a single-degree-of-freedom arm piece and a two-degree-of-freedom arm piece, the single-degree-of-freedom arm piece is formed by connecting the driving piece with the first connecting piece, and the two-degree-of-freedom arm piece is formed by respectively connecting a driving piece to a third connecting structure and a fourth connecting structure of the first connecting piece;
step two, a mechanical arm is built, the mechanical arm comprises a mechanical arm, an executing piece and a rack, the executing piece and the rack are respectively connected to the mechanical arm, the executing piece is used for executing target actions, and the rack is used for fixing the mechanical arm;
and step three, constructing the robot, and assembling a plurality of mechanical arms into corresponding robots according to the target action requirements of the robot.
Further, in the two-degree-of-freedom arm member, a third connecting structure and a fourth connecting structure of the first connecting member are respectively connected with a first driving member and a second driving member, the third connecting structure of the first connecting member is connected with the first connecting structure of the first driving member, and the fourth connecting structure of the first connecting member is connected with the second connecting structure of the second driving member; or the third connecting structure and the fourth connecting structure of the first connecting piece are connected with the first connecting structure or the second connecting structure of the driving piece.
Further, the driving member includes an output shaft, the output shafts of the first driving member and the second driving member in the two-degree-of-freedom arm member are parallel or perpendicular to each other, and the rotation directions of the output shafts are the same or opposite.
Further, the driving member includes an output shaft, and the output shafts of the first driving member and the second driving member of the two-degree-of-freedom arm member are on the same straight line.
Furthermore, the joint is constructed by a second connecting piece and a driving piece, the joint comprises a single-degree-of-freedom joint and a two-degree-of-freedom joint, the single-degree-of-freedom joint is formed by connecting one driving piece with the second connecting piece, and the two-degree-of-freedom joint is formed by respectively connecting one driving piece to a fifth connecting structure and a sixth connecting structure of the second connecting piece.
Furthermore, in the two-degree-of-freedom joint, a fifth connecting structure and a sixth connecting structure of the second connecting piece are respectively connected with a third driving piece and a fourth driving piece, the fifth connecting structure of the second connecting piece is connected with the first connecting structure of the third driving piece, and the sixth connecting structure of the second connecting piece is connected with the second connecting structure of the fourth driving piece; or the fifth connecting structure and the sixth connecting structure of the second connecting piece are connected with the first connecting structure or the second connecting structure of the driving piece.
Further, the driving part comprises an output shaft, and the output shafts of the third driving part and the fourth driving part in the two-degree-of-freedom joint are not parallel and have the same or opposite rotation directions.
Furthermore, the driving element comprises an output shaft, and the output shafts of the third driving element and the fourth driving element in the two-degree-of-freedom arm element are on the same straight line and have the same or opposite rotation directions.
Furthermore, the basic unit further comprises a buffer part which is a damping part, one end of the buffer part is connected to the first connecting part, and the other end of the buffer part is connected to the second connecting part.
Optionally, the manipulator includes a mechanical arm, an actuator, and a frame, and the manipulator has at least one degree of freedom.
Compared with the prior art, the invention has the following beneficial effects:
according to the construction method of the robot mechanism, the basic units are constructed into the mechanical arms, then the mechanical arms are constructed into the mechanical arms, and the mechanical arms are constructed into the robot, so that the construction of the robot is modularized and standardized, and a user can select a proper basic module to freely assemble the robot according to requirements, wherein the robot comprises any arm, an arm rod with adjustable length, an arm rod with any degree of freedom and the like, the process is simplified, and the cost is saved.
The driving piece has high integration level and integrates the functions of a driving circuit, a motor, mechanical transmission, braking and the like; the device has the advantages of flattening, small volume, light weight, digitalization and high cost performance.
Drawings
FIG. 1 is a schematic diagram of the overall connection relationship of the mechanism building method of the robot of the present invention;
FIG. 2 is a front elevational view of the driving member of the present invention;
FIG. 3 is a rear elevational view of the driving member of the present invention;
FIG. 4 is a schematic view of a first embodiment of the first connector of the present invention;
FIG. 5 is a schematic view of a third or fourth connection structure of the first connector of the present invention;
FIG. 6 is a front view of a second connector of the present invention;
FIG. 7 is a rear elevational view of a second connector of the present invention;
FIG. 8 is a schematic view of a single degree of freedom arm of the present invention;
FIG. 9 is a schematic view of an alternative configuration of a single degree of freedom arm of the present invention;
FIG. 10 is a schematic diagram of a two degree-of-freedom arm of the present invention;
FIG. 11 is a schematic view of another two degree of freedom arm of the present invention;
FIG. 12 is a schematic view of a single degree of freedom joint of the present invention;
FIG. 13 is a schematic view of a two degree-of-freedom joint of the present invention;
FIG. 14 is a schematic view of a first robot in accordance with the present invention;
FIG. 15 is a schematic structural view of a second robot of the present invention;
FIG. 16 is a schematic view of a third embodiment of the robot of the present invention;
fig. 17 is a schematic view of a robot according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
fig. 1 is a schematic diagram of the overall connection relationship of the mechanism building method of the robot, the minimum unit of the building robot is a basic unit, various basic units are prefabricated standard components, and a plurality of basic units of the robot comprise mechanical components required for building any functional robot.
The basic unit of this application includes driving piece, connecting piece, executive component, frame and buffer.
Fig. 2-3 are schematic views of the structure of the driving member 1. The driving member comprises a first connecting portion 11 and a second connecting portion 12, a first connecting structure 111 is arranged on the first connecting portion of the driving device for driving the first connecting portion to rotate relative to the second connecting portion, and a second connecting structure 121 is arranged on the second connecting portion. The driver is preferably flat, the first and second connection portions being arranged in two mutually parallel planes of the driver, respectively. The driving device is accommodated in the shell of the driving piece and comprises a motor, a speed reducing part and an output shaft, the motor is fixedly connected with the speed reducing part, and the rotating speed of the motor is reduced by the speed reducing part and then is output from the output shaft. Wherein, the output shaft 13 is arranged on the first connecting part 11, and after the output shaft is connected with other parts through the first connecting structure, the rotation of the output shaft is used for outputting torque, thereby driving the movement of other parts. The second connecting portion is the stationary plane of driving piece, with driving piece fixed connection on other parts, does not have relative motion between driving piece and the other parts that link firmly. The first and second connecting structures may be bolts, screws, or any other fasteners.
Fig. 4 is a schematic structural diagram of a first connecting element, in this embodiment, the first connecting element 2 includes a connecting rod 21, and a third connecting structure 22 and a fourth connecting structure 23 disposed at two ends of the connecting rod, where the connecting rod is an elongated rod, and a cross section of the rod may be a circle or a polygon, such as a triangle or a square. The preferred cross section of connecting rod is circular shape cavity pipe, because the connecting piece is installed in the side of driving piece, compares prior art, and the connecting rod of this application is inside need not to install drive arrangement or freely movable joint, and the connecting rod is inside only to need be used for passing the cable, consequently, can be less for the connecting rod internal diameter of this application, can be used for setting up tubule through the robot. In order to facilitate the installation, a plurality of installation through holes 211 are formed in the side wall of the connecting rod, at least 4 installation through holes are uniformly formed in the periphery of the side wall of the same cross section of the connecting rod, and required components can be conveniently installed in different directions of the connecting rod. In the length direction of the connecting rod, a circle of installation through holes are arranged at certain intervals, so that other components can be conveniently installed at different positions in the length direction of the connecting rod.
Fig. 5 is a schematic structural view of a third or fourth connecting structure, and the third and fourth connecting structures may be the same structure, and are used for connecting the driving member and the connecting rod, and are fixed at two ends of the connecting rod by fasteners such as bolts, pins and the like. The third or fourth connecting structure comprises a connecting rod connecting structure 221 and a first plane connecting structure 222, the connecting rod connecting structure is preferably annular, and one end of the connecting rod passes through the annular cavity of the third connecting structure and is fixedly connected with the mounting hole of the connecting rod connecting structure through the mounting through hole of the connecting rod. The mounting hole of the first plane connecting structure is arranged on a plane and used for being connected with the first connecting structure or the second connecting structure of the driving piece. The first plane connecting structure can be formed by extending the side wall of the connecting rod connecting structure in the axial direction to form a mounting plane, and after mounting, the driving piece and the connecting rod are parallel; the first plane connecting structure can also be arranged on the end surface of the connecting rod connecting structure, and after the connecting rod connecting structure is installed, the connecting rod and the driving piece are vertical.
Fig. 6 to 7 are a front view and a rear view of the second connecting member, respectively, the second connecting member 3 at least includes a fifth connecting structure 31 and a sixth connecting structure 32, the fifth connecting structure and the sixth connecting structure are respectively used for connecting the third driving member and the fourth driving member, and because planes in which the fifth connecting structure and the sixth connecting structure are located intersect with each other at a certain angle, degrees of freedom of the third driving member and the fourth driving member intersect with each other. Preferably, the planes of the fifth connecting structure and the sixth connecting structure are perpendicular to each other, and the degrees of freedom of the third driving part and the fourth driving part are orthogonal, so that 90-degree reversing of the degrees of freedom is realized. The fifth connection structure comprises a second planar mounting hole 311 arranged in the middle, around which at least four auxiliary mounting through holes 312 are arranged for mounting other components in different directions. Moreover, both front and back surfaces of the fifth connection structure may be used for connecting the driving element, the front surface of the fifth connection structure shown in fig. 6 is used for connecting with the second connection structure of the driving element, and the back surface of the fifth connection structure shown in fig. 7 is used for connecting with the first connection structure of the driving element. Depending on the use scenario, the driver may be mounted on either side of the fifth connection.
The executing piece is connected to the mechanical arm. And according to the application scene, the final execution task of the robot is realized. The implement may be disposed at the end of a robotic arm, or between any two robotic arms. The actuators of the robot, which are generally arranged at the ends, also called gripper hands, are designed according to the hands of a person and have a hand-like function. A sensor can be installed on the manipulator, can be used for sensing the surrounding working environment, and is generally installed on a manipulator (a parallel manipulator or a serial manipulator) to serve as a final function execution component; the executing piece can be a paw which can be divided into 2 fingers, 3 fingers, 4 fingers and the like according to the index of the paw, and can also be a deformed paw such as a sucker, a welding gun and the like. The actuating member may also be a lever, roller, or the like.
The frame is used for fixing the manipulator and is equivalent to a basic part of the robot. The frame may be fixed at a point or may be mobile. The rack can also accommodate electrical components such as a control system and the like.
The buffer piece is an elastic component and used for playing a role in buffering when the manipulator executes, one end of the buffer piece is connected to the first connecting piece, and the other end of the buffer piece is connected to the second connecting piece.
Step one, a mechanical arm is built according to a basic unit, and the mechanical arm comprises a single-degree-of-freedom arm piece, a two-degree-of-freedom arm piece, a single-degree-of-freedom joint and a two-degree-of-freedom joint;
FIGS. 8-9 are schematic views of a single degree of freedom arm configuration; the single-degree-of-freedom arm piece 7 is formed by building a first driving piece and a first connecting piece 2, the first connecting piece is a rod piece with a certain length, can be a hollow metal round pipe or a square pipe, a third connecting structure and a fourth connecting structure are arranged at two ends of the first connecting piece respectively and are matched with the first connecting structure or the second connecting structure of the driving piece, and therefore the driving piece can be connected to any end of the first connecting piece. On the other hand, in the one-degree-of-freedom arm member, the first connecting structure of the driving member may be connected to the first connecting member, and when the driving member is operated, the first connecting member is rotated. The second connecting structure of the driving part can also be connected with the first connecting part, and at the moment, when the driving part works, the first connecting part is in a static state.
FIGS. 10-11 are schematic views of two degree-of-freedom arm configurations; the two-degree-of-freedom arm piece 8 is formed by building two driving pieces 1 and a first connecting piece 2, namely, two driving pieces, namely a first driving piece 11 and a second driving piece 12 are respectively arranged at two ends of the first connecting piece, at the moment, the first driving piece and the first connecting piece have three connection relations, namely, a first connection structure of the first connecting piece is connected with a first connection structure of the first driving piece, and a fourth connection structure of the first connecting piece is connected with a second connection structure of the second driving piece. Second, the third connecting structure of the first connecting piece is connected with the first connecting structure of the first driving piece, and the fourth connecting structure of the first connecting piece is connected with the first connecting structure of the second driving piece, which is equivalent to that the first connecting piece rotates relative to the first driving piece and the second driving piece. And thirdly, the third connecting structure of the first connecting piece is connected with the second connecting structure of the first driving piece, and the fourth connecting structure of the first connecting piece is connected with the second connecting structure of the second driving piece, which is equivalent to that the first connecting piece is static relative to the first driving piece and the second driving piece.
FIG. 12 is a schematic view of a single degree of freedom joint configuration; the single degree of freedom joint 9 is constructed by a driving piece 1 and a connecting piece II 3, the connecting piece II comprises at least two intersected planes, preferably two mutually perpendicular planes, and a fifth connecting structure and a sixth connecting structure are respectively arranged in the two planes. And the first connecting structure and the second connecting structure of the driving piece are matched with each other, so that the fifth connecting structure and the sixth connecting structure can be matched and connected with the first connecting structure and the second connecting structure of the driving piece, and the driving piece can be connected to any surface of the second connecting piece. On the other hand, in the single-degree-of-freedom joint, the first connecting structure of the driving element may be connected with the second connecting element, and at this time, when the driving element works, the second connecting element is in a rotating state. Or the second connecting structure of the driving part is connected with the second connecting part, and at the moment, when the driving part works, the second connecting part is in a static state.
FIG. 13 is a schematic view of a two degree of freedom joint; the two-degree-of-freedom joint 10 is formed by two driving parts and a second connecting part 2, namely the two driving parts, namely a third driving part 13 and a fourth driving part 14 are respectively arranged on two planes of the second connecting part, at the moment, the driving parts and the second connecting part have two connection relations, the fifth connection structure of the second connecting part is connected with the first connection structure of the third driving part, and the sixth connection structure of the second connecting part is connected with the second connection structure of the fourth driving part. Second, the fifth connecting structure of the second connecting member is connected with the second connecting structure of the third driving member, and the sixth connecting structure of the second connecting member is connected with the second connecting structure of the fourth driving member, which is equivalent to that the second connecting member is stationary relative to both the first driving member and the second driving member.
And step two, constructing a mechanical arm, wherein the mechanical arm comprises a mechanical arm, an executing piece and a rack, the executing piece and the rack are respectively connected to the mechanical arm, the executing piece is used for executing the target action, and the rack is used for fixing the mechanical arm.
The manipulator has at least 1 degree of freedom, and special circumstances, when the first connection structure of driving piece is directly connected with the executive component, the second connection structure of driving piece is connected with the frame, forms the manipulator of 1 degree of freedom.
Furthermore, after the mechanical arms are combined randomly, a mechanical arm with any degree of freedom can be formed, for example, a three-degree-of-freedom mechanical arm can be formed by 1 single-degree-of-freedom arm piece, two-degree-of-freedom joints, an actuating piece and a rack; or the device can be composed of 1 single-degree-of-freedom joint, 1 two-degree-of-freedom arm piece, an actuating piece and a frame. The four-degree-of-freedom manipulator can be composed of 2 single-degree-of-freedom arm pieces, 1 two-degree-of-freedom joint executing piece and a rack; or 2 single-degree-of-freedom joints, 1 two-degree-of-freedom arm piece, an actuating piece and a frame; or the device can be composed of 2 single-degree-of-freedom joints, 2 two-degree-of-freedom arm pieces, an executing piece and a frame. Similarly, the five-degree-of-freedom manipulator can also be obtained by combining a plurality of mechanical arms, an executing piece and a rack to a certain degree.
And step three, constructing the robot, and assembling a plurality of mechanical arms into corresponding robots according to the target action requirements of the robot.
The robot construction completed by the construction method is further explained.
Example 1
The robot is built through the following steps:
the method comprises the following steps: selecting a plurality of basic units comprising driving pieces, first connecting pieces, second connecting pieces, a rack and executing pieces;
step two: constructing a mechanical arm, and constructing a plurality of single-degree-of-freedom arm pieces, single-degree-of-freedom joints, two-degree-of-freedom arm pieces and two-degree-of-freedom joints;
step three: building a plurality of mechanical hands, wherein the mechanical hands comprise a first mechanical hand used for walking, a second mechanical hand used for grabbing and a third mechanical hand used for rolling;
this embodiment requires 4 robots one.
Specifically, as shown in fig. 14, the first robot 11 includes 1 two-degree-of-freedom joint 10,1 one-degree-of- freedom arm 9, and 1 actuator 41. In the two-degree-of-freedom joint, a fifth connecting structure of the second connecting piece is connected with a second connecting structure of the third driving piece, and a sixth connecting structure of the second connecting piece is connected with a first connecting structure of the fourth driving piece. In the single-degree-of-freedom arm piece, a third connecting structure of the first connecting piece is connected with a second connecting structure of the first driving piece; in the embodiment, the executing piece is a rod piece, and when the output shaft of the first driving piece rotates in the forward and reverse directions, the executing piece rotates synchronously, so that the walking function is realized. The second connecting structure of the fourth driving part is fixed on the frame.
This embodiment requires 2 robots two.
Specifically, as shown in fig. 15, the second robot 12 includes 1 actuator, 2 two-degree-of-freedom joints, 1 one-degree-of-freedom arm, 1 one-degree-of-freedom joint, and a frame.
In the two-degree-of-freedom joint I, a fifth connecting structure of a second connecting piece is connected with a second connecting structure of a third driving piece, a sixth connecting structure of the second connecting piece is connected with a second connecting structure of a fourth driving piece, two connecting structures of the second connecting piece are connected with a fixing surface of the driving piece equivalently, the third driving piece and the fourth driving piece are connected to the outer side of the second connecting piece, a first connecting structure of the third driving piece is connected with an executing piece, and the executing piece is a claw 42 in a manipulator II.
In the single-degree-of-freedom arm piece, a third connecting structure of a first connecting piece is connected with a first connecting structure of a first driving piece, and a fourth connecting structure of the first connecting piece is connected with a first connecting structure of a fourth driving piece in the two-degree-of-freedom joint;
in the second two-degree-of-freedom joint, a fifth connecting structure of a second connecting piece is connected with a second connecting structure of a third driving piece, a sixth connecting structure of the second connecting piece is connected with a first connecting structure of a fourth driving piece, and a second connecting structure of the fourth driving piece is connected with the rack;
the two-degree-of-freedom two-joint and the one-degree-of-freedom arm piece are connected through the first connecting piece, and the first connecting piece and the second connecting piece of the two-degree-of-freedom joint are connected through the buffer piece 6.
This embodiment requires 4 robots three.
Specifically, as shown in fig. 16, the third manipulator 13 includes a driving element, an executing element and a rack, a first connecting structure of the driving element is connected to the executing element, and a second connecting structure of the driving element is connected to the rack. And the second connecting structure of the driving piece is fixed on the rack through a second connecting piece.
As shown in fig. 17, finally, the robot 15 of this embodiment is formed by fixing 4 first manipulators, 2 second manipulators, and 4 third manipulators in combination on the rack 5, and the robot of this embodiment can roll by using the rollers 43 in a smooth place, and can crawl by using 4 first manipulators in a rugged place, and 2 second manipulators are used for performing grabbing actions.
Similarly, according to the requirement of an actual use scene, the robot with any degree of freedom can be built according to the building method of the embodiment.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
Claims (10)
1. A mechanism building method of a robot is characterized in that the robot is built through at least two basic units, wherein each basic unit comprises a driving part, a connecting part, an executing part and a rack;
the driving piece comprises a first connecting part, a second connecting part and a driving device for driving the first connecting part to rotate relative to the second connecting part, wherein a first connecting structure is arranged on the first connecting part, and a second connecting structure is arranged on the second connecting part;
the connecting piece comprises a first connecting piece and a second connecting piece, and a third connecting structure and a fourth connecting structure are arranged on the first connecting piece; the second connecting piece at least comprises a fifth connecting structure and a sixth connecting structure, and connecting surfaces of the fifth connecting structure and the sixth connecting structure are not on the same plane;
the method comprises the following steps:
step one, a mechanical arm is built by using the basic unit, and the mechanical arm comprises an arm piece and/or a joint;
the arm piece is constructed by a first connecting piece and a driving piece, the arm piece comprises a single-degree-of-freedom arm piece and a two-degree-of-freedom arm piece, the single-degree-of-freedom arm piece is formed by connecting one driving piece with the first connecting piece, and the two-degree-of-freedom arm piece is formed by respectively connecting a third connecting structure and a fourth connecting structure of the first connecting piece with one driving piece;
step two, a mechanical arm is set up, the mechanical arm comprises a mechanical arm, an executing piece and a rack, the executing piece and the rack are respectively connected to the mechanical arm, the executing piece is used for executing target actions, and the rack is used for fixing the mechanical arm;
and step three, constructing the robot, and assembling a plurality of mechanical arms into corresponding robots according to the target action requirements of the robot.
2. The mechanism building method of the robot according to claim 1, wherein in the two-degree-of-freedom arm member, a first driving member and a second driving member are respectively connected to a third connecting structure and a fourth connecting structure of the first connecting member, the third connecting structure of the first connecting member is connected to the first connecting structure of the first driving member, and the fourth connecting structure of the first connecting member is connected to the second connecting structure of the second driving member; or the third connecting structure and the fourth connecting structure of the first connecting piece are connected with the first connecting structure or the second connecting structure of the driving piece.
3. The mechanism building method of the robot according to claim 2, wherein the driving member includes an output shaft, the output shafts of the first driving member and the second driving member of the two-degree-of-freedom arm member are parallel or perpendicular to each other, and the directions of rotation of the output shafts are the same or opposite.
4. The method for building a mechanism of a robot according to claim 2, wherein the driving member includes an output shaft, and the output shafts of the first driving member and the second driving member of the two-degree-of-freedom arm member are on the same straight line.
5. The mechanism building method of the robot as claimed in claim 1, wherein the joint is built by a second connecting member and a driving member, the joint comprises a single-degree-of-freedom joint and a two-degree-of-freedom joint, the single-degree-of-freedom joint is formed by connecting the driving member to the second connecting member, and the two-degree-of-freedom joint is formed by connecting the driving member to the fifth connecting structure and the sixth connecting structure of the second connecting member respectively.
6. The mechanism building method of the robot according to claim 5, wherein in the two-degree-of-freedom joint, a fifth connecting structure and a sixth connecting structure of the second connecting member are connected with a third driving member and a fourth driving member, respectively, the fifth connecting structure of the second connecting member is connected with the first connecting structure of the third driving member, and the sixth connecting structure of the second connecting member is connected with the second connecting structure of the fourth driving member; or the fifth connecting structure and the sixth connecting structure of the second connecting piece are connected with the first connecting structure or the second connecting structure of the driving piece.
7. A mechanism building method for a robot according to claim 5, wherein the driving member comprises an output shaft, and the output shafts of the third driving member and the fourth driving member in the two-degree-of-freedom joint are not parallel and have the same or opposite rotation directions.
8. A mechanism building method for a robot according to claim 5, wherein the driving member comprises an output shaft, and the output shafts of the third driving member and the fourth driving member of the two-degree-of-freedom arm member are on the same straight line and have the same or opposite rotation directions.
9. The mechanism building method for the robot according to claim 1, further comprising a buffer member, wherein the buffer member is a damping component, one end of the buffer member is connected to the first connecting member, and the other end of the buffer member is connected to the second connecting member.
10. The mechanism building method of the robot according to claim 1, wherein the manipulator comprises a mechanical arm, an actuator and a frame, and the manipulator has at least one degree of freedom.
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