CN206296906U - Robot reach up device and the robot with it - Google Patents
Robot reach up device and the robot with it Download PDFInfo
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- CN206296906U CN206296906U CN201621433795.6U CN201621433795U CN206296906U CN 206296906 U CN206296906 U CN 206296906U CN 201621433795 U CN201621433795 U CN 201621433795U CN 206296906 U CN206296906 U CN 206296906U
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Abstract
The utility model provides a kind of robot reach up device and the robot with it.Robot reach up device includes：Base；Drive device, drive device is arranged on base；Scissor device, scissor device realizes the function of flexible robot neck with drive device drive connection under the driving of drive device.Robot reach up device of the present utility model and the robot with it have reach up simultaneously and bending neck subfunction so that robot is more lively, increased the recreational and bio-imitability of biped intelligent robot.
Description
Technical field
The utility model is related to intelligent robot technology field, in particular to a kind of robot reach up device and
Robot with it.
Background technology
With continuing to develop for China's economy, there is a growing awareness that culture played in national development it is very important
Effect, the also continuous strong cultures overall strength and competitiveness of country promotes cultural undertakings all-round prosperity, cultural industry quickly to send out
Exhibition.Scientific and technical innovation is the important motivity of cultural development, and culture is merged with science and technology, promotes the civilization of the mankind with progressive, machine
People's drama is the model that culture is merged with scientific and technological height, is new artistic expression.
Robot drama is the combination of high and new technology and traditional culture, is the effective way for propagating traditional culture, various tables
Drill robot and represent traditional culture glamour by clapping the form of play of acting in a play, especially sufficient class green turtle performance robot combination bionics
Principle, glamour traditional culture remarkably true to life can be shown by layout theatrical performances form to people.
Achievable robot flexibility is also fewer at present, than more typically having Matthias Rolf and
The Bionic Handling Assistant that JochenJ.Steil is developed.The robot main material is constituted using nylon, machine
Device people uses complete pneumatic actuation so that the lighter in weight of robot, flexibility are high.The robot is made up of three sections, uses
Three-level drives, and it is driver part often to save portion distal end, and robot wrist uses ball bearing, drives and uses three motor drive modes,
Robot carries three flexible fingers, is also to be driven by bottom motors, and robot is except the overall length of drive part
0.75m.When bottom motors provide air pressure, robot can realize flexible stretching motion and the circular arc as big trunk
Motion.When motor provides whole air pressure, robot overall length is up to 1.2m.Integrated 12 linear transducers of robot, often
Individual sensor is attached with a motor, is fed back by sensing data, can the easy overall attitude of calculating robot.Nine
Motor part is connected with cable potentiometer, can the conveniently readily change of measurement pedestal and motor bottom length.Additionally, the machine
Device people has carried out continuously just thinking kinematics analysis, to the precise control of robot.Though the robot flexibility is higher, overall knot
Structure is more complicated and processing difficulties, and robot total amount is larger, is not suitable as robot neck part and sets up meter separately.(Matthias Rolf
andJochen J.Steil,“Constant curvature continuum kinematics as fast
Approximatemodel for the Bionic Handling Assistant " work nternational Conference
On work ntelligentRobots and Systems, October 7-12,2012.).
It can be seen that, the work rhythm of people is constantly accelerated, it is necessary to pet loosens life, and many bipeds have been occurred in that now
Intelligent robot replaces real pet, and the profile of biped intelligent robot is consistent with some toys, biped intelligent robot
Compare clean, and arrange conveniently, therefore increasingly favored by people, but major part biped intelligent robot does not possess at present
Reach up function, it is impossible to extend as people and bend neck so that biped intelligent robot lacks recreational and bio-imitability.
Utility model content
Main purpose of the present utility model is to provide a kind of robot reach up device and the robot with it, to solve
Robot certainly of the prior art can not reach up problem.
To achieve these goals, the utility model provides a kind of robot reach up device, including：Base；Drive
Device, drive device is arranged on base；The driving of scissor device, scissor device and drive device drive connection in drive device
The lower function of realizing flexible robot neck.
Further, robot reach up device also includes crank block device, and crank block device is connected to driving dress
Put and scissor device between, crank block device drives scissor device stretching motion under the drive of drive device.
Further, drive device includes：Steering wheel, steering wheel is arranged on base；Steering wheel, steering wheel is connected with steering wheel, and with
Crank block device is connected.
Further, two horizontal-extending chutes of Relative distribution are provided with base, robot reach up device is also
Including two fixed hinged seats and two sliding hinge joint chairs, two fixed hinged seats are corresponded and are fixed on being close to for two chutes
Or away from one end of drive device, two sliding hinge joint chairs are slidably mounted in two chutes correspondingly；Scissor device bag
Lifting scissor mechanism is included, lifting scissor mechanism is hinged on fixed hinged seat and sliding hinge joint chair, sliding hinge joint chair passes through crank
Slide block device is connected with drive device.
Further, crank block device includes：Take-up housing, take-up housing is arranged in chute, and sliding hinge joint chair is arranged on
On take-up housing；Crank, crank is connected with drive device；Connecting rod, connecting rod is articulated and connected with crank and take-up housing.
Further, rolling bearing is installed, rolling bearing is connected with take-up housing and sliding hinge joint chair in chute.
Further, lifting scissor mechanism includes the first fork-shearing frame and the second fork-shearing frame that are correspondingly arranged, the first fork-shearing frame
Include with the second fork-shearing frame：First hinge bar and the second hinge bar, the first hinge bar and the second hinge bar are hinged, and first
The first end of hinge bar is hinged on fixed hinged seat, and the first end of the second hinge bar is hinged on sliding hinge joint chair.
Further, scissor device also includes curvilinear path scissors mechanism, curvilinear path scissors mechanism and lifting scissor machine
Structure is articulated and connected；Curvilinear path scissors mechanism includes multiple scissor units, and multiple scissor units are articulated and connected successively.
Further, scissor unit includes：The length phase of two pieces of connecting plates and a connecting rod rest, connecting plate and connecting rod rest
Deng；Two piece second is hinged on correspondingly near two pieces of first ends of connecting plate of the scissor unit of lifting scissor mechanism to be hinged
Second end of bar, the first end of connecting rod rest is hinged between two piece of first second end of hinge bar；The hinge of connecting plate and connecting rod rest
Position is connect between the center of connecting plate and the first end of connecting plate, and connecting rod rest is located at connecting rod with the articulated position of connecting plate
Between the center of frame and the second end of connecting rod rest.
Further, connecting rod rest is rectangular frame, and reinforcement connecting rod is connected between two sides long in rectangular frame.
Further, robot reach up device also includes mounting assembly, and mounting assembly is hinged on curvilinear path scissor machine
The top of structure for mounting robot head.
Further, mounting assembly includes mounting bracket and two pieces of installing plates, two pieces of first ends of installing plate and mounting bracket
First end is hinged, and two pieces of second ends of installing plate are hinged with the second end of connecting rod rest, the second end of mounting bracket and two pieces of connecting plates
The second end be hinged；The location hole of the head for mounting robot is provided with mounting bracket.
According to another aspect of the present utility model, there is provided a kind of robot, including reach up device, reach up device is
Above-mentioned robot reach up device.
Using the technical solution of the utility model, base is used to support and install drive device and scissor device, drives dress
Put and be installed on base with scissor device, and scissor device and drive device connection, when robot reach up device works,
Scissor device is realized stretching in the presence of drive device, and then realizes the function of reach up.Additionally, machine of the present utility model
The rotary motion of drive device is delivered to people's reach up device the motion of scissor device by crank block device, in scissor dress
One layer of lifting scissor mechanism is connected in the design put and three layers of scissor unit has realized curved trajectory, by robot reach up
Device stretching motion and bending motion are cascaded, therefore, robot neck is had the function of elongation and bending.Can
See, robot reach up device of the present utility model and the robot with it have reach up simultaneously and bending neck subfunction,
So that robot is more lively, the recreational and bio-imitability of biped intelligent robot is increased.
Brief description of the drawings
The Figure of description for constituting the part of the application is used for providing being further understood to of the present utility model, this practicality
New schematic description and description is used to explain the utility model, does not constitute to improper restriction of the present utility model.
In the accompanying drawings：
Fig. 1 is that the right side of biped intelligent robot neck retraction in embodiment regards Local map；
Fig. 2 is that the right side of biped intelligent robot neck elongation in embodiment regards Local map；
Fig. 3 is the left view Local map of biped intelligent robot neck retraction in embodiment；And
Fig. 4 is the left view Local map of biped intelligent robot neck elongation in embodiment.
Wherein, above-mentioned accompanying drawing is marked including the following drawings：
10th, base；11st, chute；20th, drive device；21st, steering wheel；22nd, steering wheel；30th, scissor device；31st, fixation is hinged
Seat；32nd, sliding hinge joint chair；33rd, lifting scissor mechanism；331st, the first hinge bar；332nd, the second hinge bar；34th, curvilinear path is cut
Fork mechanism；341st, scissor unit；3411st, connecting plate；3412nd, connecting rod rest；3413rd, connecting rod is strengthened；40th, crank block device；41、
Take-up housing；42nd, crank；43rd, connecting rod；50th, mounting assembly；51st, mounting bracket；511st, location hole；52nd, installing plate；60th, motor is installed
Seat.
Specific embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
Be also intended to include plural form, additionally, it should be understood that, when in this manual use term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
It should be noted that term " first ", " in the description and claims of this application and above-mentioned accompanying drawing
Two " it is etc. for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so using
Data can exchange in the appropriate case, so that presently filed embodiment described herein for example can be with except herein
Order beyond those of diagram or description is implemented.Additionally, term " comprising " and " having " and their any deformation, it is intended that
Be cover it is non-exclusive include, for example, containing process, method, system, product or the equipment of series of steps or unit not
Be necessarily limited to those steps or the unit clearly listed, but may include not list clearly or for these processes, side
Method, product or other intrinsic steps of equipment or unit.
For the ease of description, space relative terms can be used herein, such as " ... on ", " ... top ",
" in ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation levied.It should be appreciated that space relative terms are intended to comprising the orientation except device described in figure
Outside different azimuth in use or operation.If for example, the device in accompanying drawing is squeezed, be described as " in other devices
To be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and
And respective explanations are made to the relative description in space used herein above.
Referring to shown in Fig. 1 to Fig. 4, according to embodiment of the present utility model, there is provided a kind of robot reach up device, this
The robot neck sub-device of embodiment preferably by biped intelligent robot, be built-in with the biped intelligent robot elongation and
Bend the device of neck so that biped intelligent robot has the function of reach up simultaneously and bending neck, and the present embodiment is with one
Illustrated as a example by kind penguin robot, biped intelligent robot can also be other animals, such as bird, kangaroo biped intelligence
Robot.
The robot reach up device of robot reach up device the present embodiment of the present embodiment includes base 10, drives dress
Put 20 and scissor device 30.
Wherein, the base 10 in the present embodiment is formed by the metallic plate of one piece of tabular, for supporting and installing drive device
20 and scissor device 30, drive device 20 and scissor device 30 are installed on base 10, and scissor device 30 and drive device
20 drive connections, when robot reach up device works, scissor device 30 is realized stretching in the presence of drive device 20, enters
And realize the function of reach up.
Robot reach up device in the present embodiment also includes crank block device 40, and the crank block device 40 is connected
Between drive device 20 and scissor device 30, during work, crank block device 40 drives under the drive of drive device 20 and cuts
Fork device 30 stretches neck.
Specifically, the drive device 20 in the present embodiment includes steering wheel 21 and steering wheel 22.Wherein, steering wheel 21 passes through motor
Mounting seat 60 is supported on base 10, and positioned at the end of base 10, is easy to provide necessary sky to the installation of scissor device 30
Between basis, steering wheel 22 is connected with steering wheel 21, and positioned on the side wall of steering wheel 21, and in connection procedure, steering wheel 22 is simultaneously and slide crank
Block assembly 40 is connected.Steering wheel 21 has small volume and output torque big, it is easy to the characteristic such as control, can be arranged on small volume
On biped intelligent robot, and can at a slow speed and quickly realize reach up.Steering wheel 22 is fixedly mounted on the output of steering wheel 21
On axle, and crank block device 40 has been fixedly connected it and has worked.Motor mount 60 in the present embodiment is a frame structure part,
Drive device 20 is fixed with motor mount 60, and motor mount 60 is fixed on base 10, just will so be driven
Dynamic device 20 has been fixed on the front side of whole neck minor structure so that overall structure is compacter.
In order to install scissor device 30, the base 10 in the present embodiment is provided with two chutes 11 of Relative distribution, machine
People's reach up device also includes two fixed hinged seats 31 and two sliding hinge joint chairs 32, and two fixed hinged seats 31 are corresponded
Two one end closer or far from drive device 20 of chute 11 are fixed on, and are fixed in the screwed hole on base 10 by bolt
Link together, two sliding hinge joint chairs 32 are arranged in two chutes 11 correspondingly.
And scissor device 30 includes lifting scissor mechanism 33, lifting scissor mechanism 33 is hinged on fixed hinged seat 31 and slides
On hinged seat 32, sliding hinge joint chair 32 is connected by crank block device 40 with drive device 20.
With reference to shown in Fig. 1 to Fig. 4, the crank block device 40 in the present embodiment includes take-up housing 41, crank 42 and connects
Bar 43.Wherein, take-up housing 41 is arranged in chute 11, and sliding hinge joint chair 32 is arranged on take-up housing 41；Crank 42 is filled with driving
Put 20 connections；Connecting rod 43 is articulated and connected with crank 42 and take-up housing 41.
When steering wheel 21 works, steering wheel 22 is rotated on the side wall of steering wheel 21, drives crank 42 to move, the motion band of crank 42
Dynamic connecting rod 43 stretches, and then drives take-up housing 41 to be slided in chute 11, and then drives sliding hinge joint chair 32 sliding in chute 11
It is dynamic to realize reach up function to drive scissor device 30 to move.
Preferably, rolling bearing (not shown) is installed in the chute 11 of the present embodiment, the rolling bearing and sliding block
Seat 41 is fixedly connected with sliding hinge joint chair 32 by bearing pin, when being moved under drive of the crank 42 in drive device 20, can band
Dynamic rolling bearing is rolled along the length direction of chute 11 to drive scissor device 30 to stretch, and is rubbed small, is easy to implement reach up work(
Energy.Certainly, in other embodiment of the present utility model, can also be without setting rolling bearing, and directly by take-up housing 41 and slide
Dynamic hinged seat 32 is fixed together.It is to be transported by the rotation of crank 42 first and the slip of take-up housing 41 produces process
It is dynamic, the motion of follower link 43 is driven, then promote take-up housing 41 to slide.
Lifting scissor mechanism 33 in the present embodiment includes the first fork-shearing frame and the second fork-shearing frame that are correspondingly arranged, installs
When, the first fork-shearing frame and the second fork-shearing frame are separately mounted to two chutes 11 by sliding hinge joint chair 32 and fixed hinged seat 31
Top, specifically, the first fork-shearing frame and the second fork-shearing frame in the present embodiment include the first hinge bar 331 and the second hinge
The center of extension bar 332, the first hinge bar 331 and the second hinge bar 332 is hinged, and the first end of the first hinge bar 331 is hinged
On fixed hinged seat 31, the first end of the second hinge bar 332 is hinged on sliding hinge joint chair 32, when sliding hinge joint chair 32 is in cunning
When slip in groove 11, the second hinge bar 332 is moved and promotes the first hinge bar 331 to rotate therewith, and in this process the
The upper end of one fork-shearing frame and the second fork-shearing frame synchronously rises and mutually draws close, and realizes the function of neck elongation.
Scissor device 30 in the present embodiment also includes curvilinear path scissors mechanism 34, the curvilinear path scissors mechanism 34 with
Lifting scissor mechanism 33 is articulated and connected, and drives curvilinear path scissors mechanism 34 to realize that curve is stretched when lifting scissor mechanism 33 lifts
Contracting.
In order to the curve for realizing curvilinear path scissors mechanism 34 stretches, the curvilinear path scissors mechanism 34 in the present embodiment is wrapped
Multiple scissor units 341 are included, multiple scissor units 341 are articulated and connected successively, specifically, each the scissor list in the present embodiment
Unit 341 include two pieces of connecting plates 3411 and a connecting rod rest 3412, and connecting plate 3411 and connecting rod rest 3412 equal length.
Preferably, the scissor unit 341 in the present embodiment is 3, in other embodiment of the present utility model, can also be by scissor list
Unit 341 is 4,5 etc., can specifically be set according to the bending demand of neck.
During the scissors mechanism 34 of installation curve track so that near two pieces of companies of the scissor unit 341 of lifting scissor mechanism 33
The first end of fishplate bar 3411 is hinged on two piece of second second end of hinge bar 332, the first end of connecting rod rest 3412 correspondingly
It is hinged between two piece of first second end of hinge bar 331；Two pieces of connecting plates 3411 and connecting rod rest 3412 are hinged to form scissor knot
Structure, and connecting plate 3411 is located at the center of connecting plate 3411 and the first end of connecting plate 3411 with the articulated position of connecting rod rest 3412
Between, connecting rod rest 3412 is located at the center of connecting rod rest 3412 and the second end of connecting rod rest 3412 with the articulated position of connecting plate 3411
Between, after multiple scissor units 341 are in turn connected to form, it is easy to realize curvilinear path during scissor device 30 is flexible
It is flexible.
It should be noted that the first hinge bar 331, the second hinge bar 332, connecting plate 3411, connecting rod in the present embodiment
The first end and the second end of the installing plate 52 of frame 3412 and mounting bracket 51 refer to the first hinge bar 331, the second hinge bar 332, connect
On length direction two ends of fishplate bar 3411, connecting rod rest 3412, installing plate 52 and mounting bracket 51, if therein
One end is first end, and the other end is then the second end.
Specifically introduce the curvilinear path scissors mechanism 34 in the present embodiment and realize that the process of curve is as follows：
As shown in figure 1, as a example by near the scissor unit 341 of lifting scissor mechanism 33, including two pieces of Hes of connecting plate 3411
One connecting rod rest 3412, its length is identical, but two pieces of connecting plates 3411 and a pin joint position for connecting rod rest 3412 are to front side
Mobile, the bottom of connecting rod rest 3412 is connected with the rotary-top of connecting plate 3411, when the lifting scissor mechanism 33 of bottom extends, can drive
The top rod end of connecting plate 3411 of dynamic scissor unit 341 is drawn close and is synchronously risen to the top rod end of connecting rod rest 3412, and this also drives
In the middle of scissor unit 341 it is synchronous rise, because its pin joint position moves forward, the now top rod end of connecting plate 3411
Can draw close higher than the top rod end of connecting rod rest 3412 and to it, this generates the bending fortune at the top of curvilinear path scissors mechanism 34
It is dynamic, i.e. the action of the now bending of curvilinear path scissors mechanism 34 extension.Similarly, in the case where three layers of identical scissor unit 341 are connected,
Whole curvilinear path scissors mechanism 34 there has been the obvious action for bending and extending.
Preferably, the connecting rod rest 3412 in the present embodiment is rectangular frame, two sides long in the rectangular frame it
Between be connected with reinforcement connecting rod 3413, Stability Analysis of Structures reliability.
Further in conjunction with shown in Fig. 1 to Fig. 4, the robot reach up device in the present embodiment also includes mounting assembly 50, should
Mounting assembly 50 is hinged on the top of curvilinear path scissors mechanism 34 for the head of mounting robot.Specifically, this reality
Applying mounting assembly 50 in example includes mounting bracket 51 and two pieces of installing plates 52, during installation, two pieces of first ends of installing plate 52 and peace
The first end for shelving 51 is hinged, and two pieces of second ends of installing plate 52 are hinged with the second end of connecting rod rest 3412, and the of mounting bracket 51
Two ends are hinged with the second end of two pieces of connecting plates 3411；The location hole of the head for mounting robot is provided with mounting bracket 51
511。
It can be seen that, the robot reach up device that the present embodiment is provided passes through crank block device 40 by the rotation of drive device 20
The dynamic motion for being delivered to scissor device 30 of transhipment, one layer of the He of lifting scissor mechanism 33 connected in the design of scissor device 30
Three layers of scissor unit 341 realizes curved trajectory, and robot reach up device stretching motion and bending motion are connected on
Together, therefore, also just make robot neck have elongation and bending function.With reach up simultaneously and bending neck subfunction
Robot is more lively, increased the recreational and bio-imitability of biped intelligent robot.
According to another aspect of the present utility model, the robot includes reach up device, and reach up device is above-mentioned machine
Device people's reach up device.
Preferred embodiment of the present utility model is these are only, the utility model is not limited to, for this area
Technical staff for, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle within,
Any modification, equivalent substitution and improvements made etc., should be included within protection domain of the present utility model.
Claims (13)
1. a kind of robot reach up device, it is characterised in that including：
Base (10)；
Drive device (20), the drive device (20) is on the base (10)；
Scissor device (30), the scissor device (30) is with the drive device (20) drive connection in the drive device (20)
Driving under realize the function of flexible robot neck.
2. robot reach up device according to claim 1, it is characterised in that the robot reach up device is also wrapped
Crank block device (40) is included, the crank block device (40) is connected to the drive device (20) and the scissor device
(30) between, the crank block device (40) drives the scissor device (30) to stretch under the drive of the drive device (20)
Contracting motion.
3. robot reach up device according to claim 2, it is characterised in that the drive device (20) includes：
Steering wheel (21), the steering wheel (21) is on the base (10)；
Steering wheel (22), the steering wheel (22) is connected with the steering wheel (21), and is connected with the crank block device (40).
4. robot reach up device according to claim 2, it is characterised in that be provided with the base (10) relative
Two horizontal-extending chutes (11) of distribution, the robot reach up device also includes two fixed hinged seats (31) and two
Individual sliding hinge joint chair (32), described two fixed hinged seats (31) correspond be fixed on two chutes (11) closer or far from
One end of the drive device (20), described two sliding hinge joint chairs (32) are slidably mounted on described two chutes correspondingly
(11) in；
The scissor device (30) includes lifting scissor mechanism (33), and the lifting scissor mechanism (33) is hinged on the fixed hinge
On joint chair (31) and the sliding hinge joint chair (32), the sliding hinge joint chair (32) is by the crank block device (40) and institute
State drive device (20) connection.
5. robot reach up device according to claim 4, it is characterised in that crank block device (40) bag
Include：
Take-up housing (41), in the chute (11), the sliding hinge joint chair (32) is installed in institute for the take-up housing (41)
State on take-up housing (41)；
Crank (42), the crank (42) is connected with the drive device (20)；
Connecting rod (43), the connecting rod (43) is articulated and connected with the crank (42) and the take-up housing (41).
6. robot reach up device according to claim 5, it is characterised in that is provided with rolling in the chute (11)
Bearing, the rolling bearing is connected with the take-up housing (41) and the sliding hinge joint chair (32).
7. robot reach up device according to claim 4, it is characterised in that the lifting scissor mechanism (33) includes
The first fork-shearing frame and the second fork-shearing frame being correspondingly arranged, first fork-shearing frame and second fork-shearing frame include：
First hinge bar (331) and the second hinge bar (332), first hinge bar (331) and second hinge bar (332)
It is hinged, the first end of first hinge bar (331) is hinged on the fixed hinged seat (31), second hinge bar
(332) first end is hinged on the sliding hinge joint chair (32).
8. robot reach up device according to claim 7, it is characterised in that the scissor device (30) also includes song
Line tracking scissors mechanism (34), the curvilinear path scissors mechanism (34) is articulated and connected with the lifting scissor mechanism (33)；Institute
Stating curvilinear path scissors mechanism (34) includes multiple scissor units (341), the multiple scissor unit (341) company of being hinged successively
Connect.
9. robot reach up device according to claim 8, it is characterised in that the scissor unit (341) includes：
The length of two pieces of connecting plates (3411) and a connecting rod rest (3412), the connecting plate (3411) and the connecting rod rest (3412)
Degree is equal；
It is close to two pieces of first ends of the connecting plate (3411) of scissor unit (341) of the lifting scissor mechanism (33) one by one
Two pieces of second ends of second hinge bar (332) are accordingly hinged on, the first end of the connecting rod rest (3412) is hinged on two
Between second end of the first hinge bar (331) described in block；
The articulated position of the connecting plate (3411) and the connecting rod rest (3412) be located at the connecting plate (3411) center and
Between the first end of the connecting plate (3411), and the connecting rod rest (3412) and the connecting plate (3411) hinge position set
Between the second end of the center of the connecting rod rest (3412) and the connecting rod rest (3412).
10. robot reach up device according to claim 9, it is characterised in that the connecting rod rest (3412) is rectangular
Shape framework, is connected with reinforcement connecting rod (3413) between two sides long in the rectangular frame.
11. robot reach up devices according to claim 9, it is characterised in that the robot reach up device is also
Including mounting assembly (50), the mounting assembly (50) is hinged on the top of the curvilinear path scissors mechanism (34) for peace
The head of machine people.
12. robot reach up devices according to claim 11, it is characterised in that the mounting assembly (50) includes peace
(51) and two pieces of installing plates (52) are shelved, two pieces of first ends of the installing plate (52) are cut with scissors with the first end of the mounting bracket (51)
Connect, two pieces of second ends of the installing plate (52) are hinged with the second end of the connecting rod rest (3412), the mounting bracket (51)
Second end is hinged with the second end of two pieces of connecting plates (3411)；
The location hole (511) of the head for installing the robot is provided with the mounting bracket (51).
A kind of 13. robots, including reach up device, it is characterised in that the reach up device is in claim 1 to 12
Robot reach up device described in one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621433795.6U CN206296906U (en) | 2016-12-23 | 2016-12-23 | Robot reach up device and the robot with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621433795.6U CN206296906U (en) | 2016-12-23 | 2016-12-23 | Robot reach up device and the robot with it |
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| Publication Number | Publication Date |
|---|---|
| CN206296906U true CN206296906U (en) | 2017-07-04 |
Family
ID=59205223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621433795.6U Expired - Fee Related CN206296906U (en) | 2016-12-23 | 2016-12-23 | Robot reach up device and the robot with it |
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| CN (1) | CN206296906U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108237523A (en) * | 2016-12-23 | 2018-07-03 | 深圳光启合众科技有限公司 | Robot reach up device and with its robot |
| CN109291043A (en) * | 2018-12-17 | 2019-02-01 | 中科新松有限公司 | A kind of lifting device and robot |
| CN110116418A (en) * | 2019-04-11 | 2019-08-13 | 北京航空航天大学 | A kind of scissor bending metamorphic mechanisms manipulator |
| CN110979756A (en) * | 2019-12-20 | 2020-04-10 | 哈尔滨工业大学（深圳） | Space-expandable catching manipulator device |
-
2016
- 2016-12-23 CN CN201621433795.6U patent/CN206296906U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108237523A (en) * | 2016-12-23 | 2018-07-03 | 深圳光启合众科技有限公司 | Robot reach up device and with its robot |
| CN109291043A (en) * | 2018-12-17 | 2019-02-01 | 中科新松有限公司 | A kind of lifting device and robot |
| CN110116418A (en) * | 2019-04-11 | 2019-08-13 | 北京航空航天大学 | A kind of scissor bending metamorphic mechanisms manipulator |
| CN110979756A (en) * | 2019-12-20 | 2020-04-10 | 哈尔滨工业大学（深圳） | Space-expandable catching manipulator device |
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