CN215548635U

CN215548635U - Diversified high-efficient structure of grabbing based on VEX robot

Info

Publication number: CN215548635U
Application number: CN202122125057.2U
Authority: CN
Inventors: 陈佳晖; 陈根富
Original assignee: Hangzhou Xiaoshou Universe Information Consulting Co ltd
Current assignee: Hangzhou Xiaoshou Universe Information Consulting Co ltd
Priority date: 2021-09-01
Filing date: 2021-09-01
Publication date: 2022-01-18
Anticipated expiration: 2031-09-01

Abstract

The utility model relates to a multidirectional efficient grasping structure based on a VEX robot, which comprises: a frame, which is movable; the first swing arm is arranged on the front side of the frame and can swing along the vertical direction; a second swing arm provided on the rear side of the frame and capable of swinging in the horizontal direction; the two telescopic arms are respectively arranged on two sides of the rack, can be horizontally stretched and can clamp or loosen an object; the controller is arranged on the rack; the controller can control the first swing arm, the second swing arm and the telescopic arm independently; the structure can be used for clamping at least four scoring blocks each time the robot goes home in a match, and the advantage is greater compared with that of a traditional robot.

Description

Diversified high-efficient structure of grabbing based on VEX robot

Technical Field

The utility model relates to the field of robot parts, in particular to a multi-direction efficient grasping structure based on a VEX robot.

Background

The VEX robot is a robot project which is greatly supported by the American space service (NASA), American easy Ann trust company (EMC), Asian robot alliance (Asian Robotics League) Chevrolen, Texas instruments, Norsper Rough Grumman company and other American companies, students and adults can develop own originality by a large amount, and create own robots by tools and materials in hands, the VEX robot competition is based on science and technology, a platform for obtaining science and technology and fighting communication and showing own talents is provided for all students, the science and technology potential of the students is stimulated, and the science and technology dream of the students is achieved.

In some robot competitions, there are various scores, different scores can be clamped in different positions, as shown in fig. 3, in order to score as much as possible, the clamping arm of the robot needs to be accurately controlled, while the mechanical arm of the traditional robot has high degree of freedom and is difficult to be adjusted to the accurate position, moreover, the position of the mechanical arm needs to be adjusted according to different scores, and a general robot is assembled, because the control buttons of the mechanical arm are more, only one mechanical arm is usually designed, so that the robot can only clamp one score at a time, and the competition scored according to the number of the scores is not superior.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model aims to provide a multi-direction efficient gripping structure based on a VEX robot, which can simultaneously grip a plurality of or a plurality of objects and is simple to control.

The technical scheme of the utility model is realized as follows: the utility model provides a structure is grabbed to diversified high efficiency based on VEX robot which characterized in that includes:

a frame, which is movable;

the first swing arm is arranged on the front side of the frame and can swing along the vertical direction;

a second swing arm provided on the rear side of the frame and capable of swinging in the horizontal direction;

the two telescopic arms are respectively arranged on two sides of the rack, can be horizontally stretched and can clamp or loosen an object;

the controller is arranged on the rack;

wherein, the controller can control the first swing arm, the second swing arm and the telescopic arm independently.

Adopt foretell diversified high efficiency to grab and hold structure based on VEX robot, before the match, according to the confession clamping position of different scoring piece set up the height of first swing arm, second swing arm, telescopic boom respectively, make first swing arm pendulum to correspond the scoring piece of lower clamping position when the lowest position, the second swing arm corresponds the scoring piece of centre gripping position, telescopic boom corresponds the scoring piece of higher clamping position, like this in the match, after controlling first swing arm clamp to get a scoring piece, change the position of frame, control second swing arm clamp and get a second scoring piece, change the position of frame again, control two telescopic booms and get two scoring pieces again, it can press from both sides four scoring pieces at least to get home like this, advantage is bigger for traditional robot.

The utility model further provides that the first swing arm comprises:

the vertical swing frame comprises two Z-shaped frames which are arranged in parallel, and the two Z-shaped frames are connected through a connecting frame;

the fixed seat is arranged on the upper surface of the front side of the rack;

the driver is arranged on the fixed seat;

the vertical swing frame is rotatably arranged on the fixed seat, and the driver can drive the vertical swing frame to swing along the vertical direction.

The present invention further provides that said second swing arm comprises:

one end of each of the two horizontal swinging frames is horizontally and rotatably connected with the rack;

the same-frequency rotating device is arranged on the rack, and two ends of the same-frequency rotating device are respectively connected with the rotating connecting ends of the two horizontal swinging frames;

the same-frequency rotating device can drive the free ends of the two horizontal swinging frames to approach or move away from each other.

The utility model is further arranged such that the telescopic arm comprises:

the electric cylinder is connected to the rack, and the output end of the electric cylinder is connected with a piston rod;

and the clamping claw is fixed at one end of the piston rod and can loosen or clamp the object.

The utility model is further configured to further include:

the rotating seat is rotatably arranged on the rack;

wherein, the electric cylinder is fixed on the rotating seat.

The advantageous effects of the present invention will be explained in detail in the embodiments, thereby making the advantageous effects more apparent.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is a schematic diagram showing the arrangement of the first swing arm, the second swing arm and the two telescopic arms in the embodiment of the present invention.

Fig. 3 is a schematic structural diagram of part of the score blocks in the robot competition.

The labels in the figures are:

1-rack, 201-vertical swing frame, 202-fixed seat, 203-driver, 204-connecting frame, 301-horizontal swing frame, 302-co-frequency rotator, 401-electric cylinder, 402-clamping jaw, 403-rotating seat and 5-controller.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

As shown in fig. 1-2, the utility model discloses a multi-directional high-efficiency grasping structure based on a VEX robot, comprising: the robot comprises a rack 1, wherein the rack 1 is used for bearing other parts of a robot and can be used as a main body structure of the robot, moving wheels are arranged at the bottom of the rack 1 and are used for moving the rack 1, and the moving mode of the rack 1 can be other common robot moving modes; a first swing arm provided on the front side of the upper surface of the frame 1 and capable of swinging in the vertical direction; a second swing arm provided on the rear side of the frame 1 and capable of swinging in the horizontal direction; the two telescopic arms are respectively arranged on two sides of the rack 1, can be horizontally stretched and can clamp or loosen objects; a controller 5 provided on the frame 1; the controller 5 can control the rack 1 to move, can control the first swing arm to swing up and down relative to the rack 1, can control the second swing arm to swing in the horizontal direction, and can also control the two telescopic arms to independently extend or shorten horizontally, and realize clamping or loosening of objects.

The robot match allows players to adjust various parameters and structures of the robot according to actual score block conditions before the match, so that the heights of a first swing arm, a second swing arm and a telescopic arm can be adjusted according to clamping positions of different score blocks, the robot is assembled through various small parts, the height can be adjusted only by additionally arranging a cushion block between corresponding structures, in the match, the first swing arm is controlled to swing downwards to the lowest position, then a rack 1 moves to enable the front end to be close to the score block with the lower clamping position, the first swing arm is controlled to swing upwards to rack the score block after the front end of the first swing arm is clamped into the score block, at the moment, the rack 1 moves to enable the rear end to be close to the score block with the middle clamping position, the second swing arm horizontally swings to clamp the score block, and it needs to be stated that the clamping positions of some score blocks are inclined, the scoring block can move upwards to realize suspension in the clamping process, for the scoring block, the second swing arm only needs to swing horizontally to clamp the scoring block, the scoring block can be driven to move, for the scoring block with a non-inclined clamping position, a bouncing structure needs to be arranged on the basis of the second swing arm, and the scoring block is suspended upwards after the second swing arm clamps the scoring block; after the scoring blocks are clamped at the front and the back of the robot, the movable rack 1 and the two telescopic arms are controlled to clamp other types of scoring blocks respectively, and the robot returns home after clamping the four scoring blocks, so that the robot can take a great advantage in a match.

In a preferred embodiment of the present invention, the first swing arm includes: the vertical swing frame 201 comprises two Z-shaped frames which are arranged in parallel and connected through a connecting frame 204; a fixed seat 202 arranged on the upper surface of the front side of the frame 1; a driver 203 provided on the holder 202; wherein, the vertical swing frame 201 is rotatably disposed on the fixing base 202, and the driver 203 can drive the vertical swing frame 201 to swing along the vertical direction.

Fixing base 202 is fixed at frame 1 upper surface, the altitude mixture control of first swing arm is actually adjusting fixing base 202's height, can add the bed hedgehopping piece between fixing base 202 and frame 1, vertical swing span 201 rotates through the pivot and connects on fixing base 202, driver 203 control pivot rotates, driving motor can be chooseed for use to driver 203, driving motor passes through the shaft coupling and is connected with the pivot transmission, the pivot rotates the in-process and takes vertical swing span 201 luffing motion, vertical swing span 201 forms through the welding of two parallel Z type framves and link 204, it is more stable for single Z type frame structure.

In a preferred embodiment of the present invention, the second swing arm includes: two horizontal swing frames 301, wherein one ends of the two horizontal swing frames 301 are horizontally and rotatably connected with the rack 1; the same-frequency rotator 302 is arranged on the rack 1, and two ends of the same-frequency rotator are respectively connected with the rotating connecting ends of the two horizontal swing frames 301; wherein, the same-frequency rotating device 302 can drive the free ends of the two horizontal swinging frames 301 to approach each other or move away from each other.

The same-frequency rotating device 302 can adopt a structure of one gear and two racks, the two racks are respectively meshed and connected to two sides of the gear, when the gear is rotated, the two racks can be close to or away from each other, the rotating ends of the two horizontal swinging frames 301 are respectively connected to the two racks, the two horizontal swinging frames 301 are close to or away from each other, clamping and loosening of the divided blocks can be realized only by controlling forward and reverse rotation of one motor, and the operation is very simple.

In a preferred embodiment of the present invention, the telescopic arm comprises: the electric cylinder 401 is connected to the frame 1, and the output end of the electric cylinder is connected with a piston rod; a gripper jaw 402, which is fixed at one end of the piston rod, can loosen or grip the object.

The controller 5 controls the piston rod at the output end of the electric cylinder 401 to move, so that the clamping claw 402 extends out or retracts, and the process of grabbing to obtain the blocks comprises the steps of firstly controlling the clamping claw 402 to loosen, controlling the piston rod to move to enable the clamping claw 402 to approach the blocks, and then controlling the clamping claw 402 to clamp the object.

In a preferred embodiment of the present invention, the method further comprises: a rotating base 403 rotatably provided on the frame 1; wherein the electric cylinder 401 is fixed on the rotary seat 403.

The extending angle of the clamping claw 402 can be adjusted through the rotating seat 403, for some scores which are difficult to be approached by the robot at corners, the robot can extend out of the clamping claw 402 to be clamped after rotating a certain angle, the clamping capacity of the robot is further optimized, and the rotating seat 403 is also controlled through the controller 5.

The controller 5 is simple in control operation of each clamping unit, so that more scoring blocks can be clamped, the operation is not complex, and the clamping structure has good use prospect in robot competition.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides a structure is grabbed to diversified high efficiency based on VEX robot which characterized in that includes:

a frame (1) which is movable;

the first swing arm is arranged on the front side of the frame (1) and can swing along the vertical direction;

the second swing arm is arranged at the rear side of the frame (1) and can swing along the horizontal direction;

the two telescopic arms are respectively arranged at two sides of the rack (1), can be horizontally stretched and can clamp or loosen objects;

a controller (5) arranged on the frame (1);

wherein the controller (5) can control the first swing arm, the second swing arm and the telescopic arm independently.

2. The VEX robot-based multi-azimuth efficient gripping structure according to claim 1, wherein the first swing arm comprises:

the vertical swing frame (201) comprises two Z-shaped frames which are arranged in parallel and connected through a connecting frame (204);

a fixed seat (202) arranged on the upper surface of the front side of the frame (1);

an actuator (203) provided on the holder (202);

the vertical swing frame (201) is rotatably arranged on the fixed seat (202), and the driver (203) can drive the vertical swing frame (201) to swing along the vertical direction.

3. The VEX robot-based multi-azimuth efficient gripping structure according to claim 1, wherein the second swing arm comprises:

the two horizontal swinging frames (301), one ends of the two horizontal swinging frames (301) are horizontally and rotatably connected with the rack (1);

the same-frequency rotating device (302) is arranged on the rack (1), and two ends of the same-frequency rotating device are respectively connected with the rotating connecting ends of the two horizontal swinging frames (301);

wherein the co-channel rotating device (302) can drive the free ends of the two horizontal swinging frames (301) to approach or move away from each other.

4. The VEX robot-based multi-azimuth efficient gripping structure according to claim 1, wherein the telescopic arm comprises:

the electric cylinder (401) is connected to the frame (1), and the output end of the electric cylinder is connected with a piston rod;

a gripper jaw (402) fixed at one end of the piston rod, which can loosen or grip the object.

5. The multi-orientation efficient gripping structure based on the VEX robot as claimed in claim 4, further comprising:

a rotating seat (403) which is rotatably arranged on the frame (1);

wherein the electric cylinder (401) is fixed on the rotating seat (403).