CN218401032U

CN218401032U - Intelligent robot who contains six rotors

Info

Publication number: CN218401032U
Application number: CN202222759422.XU
Authority: CN
Inventors: 黄焱; 王忠锋; 黄伟玲; 黄运真
Original assignee: Gannan Institute Of Science And Technology
Current assignee: Gannan Institute Of Science And Technology
Priority date: 2022-10-20
Filing date: 2022-10-20
Publication date: 2023-01-31
Anticipated expiration: 2032-10-20

Abstract

The utility model relates to the technical field of intelligent aircrafts, in particular to an intelligent robot with six rotor wings; in the utility model, the screw rod is driven to rotate by the folding motor, so that the sliding nut meshed and connected with the screw rod slides up and down, and then six T-shaped pull rods are driven to move simultaneously, and then the connecting rod is driven to move, so that the sleeve pipe is folded and extended by taking a hinge point connected with the machine body as a center, and the six-rotor wing device is folded and extended; the utility model discloses it is folding convenient, intelligent degree is high.

Description

Intelligent robot who contains six rotors

Technical Field

The utility model relates to an intelligent vehicle technical field, in particular to intelligent robot who contains six rotors.

Background

In the early twenty-first century of rapid development of science and technology and industry, engineering problems tend to be more and more complicated, engineering task difficulties are gradually developed towards the trends of high precision and high difficulty, particularly in the field of overhead operation, the risks such as bridge overhaul and wind generating set maintenance are high, many countries still rely on manual operation to complete similar engineering tasks, and the risk degree is high.

The era is developing, the life is also developing, the living standard of people is better and better, more people are reluctant to do dangerous work, and the traditional machine is not innovative and can not perfectly take the work, so that the innovation on the aspects of mechanical structure and function is the great demand of the era.

Present unmanned aerial vehicle can adapt to this era well, can replace the manual work to solve some high dangerous problems, and unmanned aerial vehicle's applied scope is more and more wide at present, and unmanned aerial vehicle's folding mechanism is intelligent enough and folding inconvenient at present.

Disclosure of Invention

In order to overcome the aforesaid not enough, the utility model aims at providing an intelligent robot who contains six rotors drives the lead screw through folding motor rotatory to make the slip nut of meshing connection on the lead screw slide from top to bottom, thereby drive six T type pull rod motions simultaneously, drive the connecting rod motion then, make the sleeve pipe use the pin joint of being connected with the organism to fold and extend as the center, thereby make six rotor devices fold and extend.

The technical proposal of the utility model for solving the technical problem is that:

the utility model provides an intelligent robot who contains six rotors, wherein, including the organism and with six rotor devices and the arm device that the organism is connected, set up organism upper plate, organism medium plate, organism hypoplastron, folding motor, lead screw slide mechanism and folding mechanism in the organism, the organism upper plate pass through the connecting piece with the organism hypoplastron is connected, folding motor connects the organism upper plate with just be in on the organism medium plate the organism upper plate with between the organism medium plate, lead screw slide mechanism includes engaged with lead screw and slip nut, folding mechanism includes six T type pull rods and six connecting rods, six rotor devices include six sleeve pipes, the one end of T type pull rod with slip nut is articulated, the other end of T type pull rod with the one end of connecting rod is articulated, the other end of connecting rod with bushing, the sleeve pipe articulates on the organism.

As an improvement of the utility model, the six-rotor device further comprises a rotor motor and a propeller which are connected, and the rotor motor is connected with the tail end of the sleeve.

As a further improvement, the mechanical arm device comprises a connecting mechanism, a mechanical arm mechanism and a gripper mechanism, which are connected in sequence and used for the connection of the machine body.

As a further improvement of the utility model, coupling mechanism includes rotating electrical machines, upper fixed disk, lower fixed disk and fixed plate, the rotating electrical machines is connected on the upper fixed disk, the upper fixed disk with be provided with the bearing down between the fixed disk, the rotating electrical machines with the bearing cup joint and with fixed plate fixed connection.

As a further improvement of the present invention, the lower plate of the machine body is connected to the upper fixing plate and the lower fixing plate via a spring-constrained screw.

As a further improvement of the utility model, the spring restraint screw rod cover has a spring.

As a further improvement of the utility model, the horn mechanism include first arm and with first arm articulated second arm, be provided with first worm gear mechanism on the first arm, first worm gear mechanism is including the steering wheel, worm wheel and the worm that connect gradually, the worm through two dislocation cross mechanisms with the fixed plate is connected.

As a further improvement, the second worm gear mechanism is arranged on the second mechanical arm, the second worm gear mechanism is identical to the first worm gear mechanism in structure, and the second mechanical arm passes through the second worm gear mechanism is connected to the fixing rod of the first mechanical arm.

As a further improvement, the second mechanical arm is further provided with a third worm gear mechanism, the third worm gear mechanism is the same as the structure of the first worm gear mechanism, and the second mechanical arm is hinged to the third worm gear mechanism and the gripper mechanism.

In the utility model, the screw rod is driven to rotate by the folding motor, so that the sliding nut meshed and connected to the screw rod slides up and down, and then six T-shaped pull rods are driven to move simultaneously, and then the connecting rod is driven to move, so that the sleeve is folded and extended by taking a hinge point connected with the machine body as a center, and the six-rotor wing device is folded and extended; the utility model discloses it is folding convenient, intelligent degree is high.

Drawings

For the purpose of illustration, the invention is described in detail with reference to the following preferred embodiments and the accompanying drawings.

Fig. 1 is a first schematic structural diagram of the present invention;

FIG. 2 is a second schematic structural view of the present invention;

fig. 3 is a third schematic structural view of the present invention;

fig. 4 is a fourth schematic structural view of the present invention;

fig. 5 is a schematic view of the connection between the body and the six-rotor device according to the present invention;

FIG. 6 is a front view of FIG. 5;

FIG. 7 is an enlarged view of A in FIG. 6;

fig. 8 is a schematic structural view of the double-offset cross mechanism of the present invention;

fig. 9 is a schematic view of the arm mechanism of the present invention;

fig. 10 is a schematic view of a gripper mechanism according to the present invention;

reference numerals: 1-body, 11-body upper plate, 111-connecting piece, 12-body middle plate, 13-body lower plate, 14-screw rod sliding mechanism, 141-screw rod, 142-sliding nut, 15-folding mechanism, 151-T-shaped pull rod, 152-connecting rod, 16-folding motor, 2-six-rotor device, 21-sleeve, 22-rotor motor, 23-propeller, 3-mechanical arm device, 31-connecting mechanism, 311-rotating motor, 312-upper fixed plate, 313-lower fixed plate, 314-fixed plate, 315-bearing, 316-spring constraint screw, 317-spring, 32-arm mechanism, 321-first mechanical arm, 322-second mechanical arm, 323-first worm gear mechanism, 324-second worm gear mechanism, 325-third worm gear mechanism, 326-steering engine, 327-worm gear, 328-double offset cross mechanism, 329-worm, 33-claw mechanism.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1 to 10, the utility model discloses an intelligent robot with six rotors, including organism 1 and six rotor devices 2 and the arm device 3 be connected with organism 1.

The utility model discloses in, set up organism upper plate 11 in the organism 1, organism hypoplastron 12, organism hypoplastron 13, folding motor 16, lead screw slide mechanism 14 and folding mechanism 15, organism upper plate 11 passes through connecting piece 111 and is connected with organism hypoplastron 13, folding motor 16 connects on organism upper plate 11 and organism midboard 12 and is in between organism upper plate 11 and the organism midboard 12, lead screw slide mechanism 14 is including engaged with lead screw 141 and slip nut 142, folding mechanism 15 includes six T type pull rods 151 and six connecting rods 152, six rotor device 2 include six sleeve pipes 21, the one end of T type pull rod 151 is articulated with slip nut 142, the other end of T type pull rod 151 is articulated with the one end of connecting rod 152, the other end and the sleeve pipe 21 of connecting rod 152 are connected, sleeve pipe 21 articulates on organism 1.

In the utility model, the folding motor 16 drives the screw rod 141 to rotate, so that the sliding nut 142 meshed and connected to the screw rod 141 slides up and down, thereby driving the six T-shaped pull rods 151 to move simultaneously, and then driving the connecting rod 152 to move, so that the sleeve 21 is folded and extended with the hinge point connected with the machine body 1 as the center, and the six rotor wing devices 2 are folded and extended; specifically, the transmission system of the folding mechanism 16 mainly uses the folding motor 16 as a power source, because the folding machine 1 does not need to rotate rapidly during the folding process, the folding motor 16 outputs force, then the rotating speed is reduced by the reducer, the reduced rotating speed is transmitted to the connected screw rod 141, and the screw rod 141 rotates to drive the sliding nut 142 on the screw rod 141 to move up and down, so as to achieve the folding function of the folding machine.

In the utility model, the six-rotor device 2 further comprises a rotor motor 22 and a propeller 23 which are connected, the rotor motor 22 is connected with the tail end of the sleeve 21, six propellers 23 on the six-rotor device 2 are controlled to lift, and the rotor motor 22 and the folding motor 16 are both electrically connected with a controller arranged in the machine body 1; specifically, six-rotor device 2 provides flight power for six rotors, each rotor has an independent rotor motor 22 as a power source, different speeds are needed to deal with different conditions in the flight process, and when the transmission of six-rotor device 2 is designed, a speed changer is added to each rotor to adjust and control the rotation speed of an unmanned aerial vehicle so as to deal with different flight requirements.

In the utility model, the mechanical arm device 3 comprises a connecting mechanism 31, a mechanical arm mechanism 32 and a gripper mechanism 33 which are connected in sequence and used for connecting the machine body 1; the connecting mechanism 31 comprises a rotating motor 311, an upper fixed disk 312, a lower fixed disk 313 and a fixed plate 314, wherein the rotating motor 311 is connected to the upper fixed disk 312, a bearing is arranged between the upper fixed disk 312 and the lower fixed disk 313, and the rotating motor 311 is sleeved with the bearing and fixedly connected with the fixed plate 314; the lower plate 13 of the body is connected with the upper fixed disk 312 and the lower fixed disk 313 through a spring restraint screw 316, and the spring restraint screw 316 is sleeved with a spring 317; the rotation motor 311 rotates the fixing plate 314, thereby rotating the arm device 3.

In the utility model, the arm mechanism 32 comprises a first arm 321 and a second arm 322 hinged to the first arm 321, the first arm 321 is provided with a first worm and gear mechanism 323, the first worm and gear mechanism 323 comprises a steering engine 326, a worm wheel 327 and a worm 329 which are connected in sequence, the worm 327 is connected with the fixed plate 314 through a double-dislocation cross mechanism 328, and the steering engine 326 controls the movement of the first arm 321; a second worm and gear mechanism 324 is arranged on the second mechanical arm 322, the second worm and gear mechanism 324 has the same structure as the first worm and gear mechanism 323, and the second mechanical arm 322 is connected to the fixing rod of the first mechanical arm 321 through the second worm and gear mechanism 324; the second mechanical arm 322 is also provided with a third worm and gear mechanism 325, the third worm and gear mechanism 325 has the same structure as the first worm and gear mechanism 323, and the second mechanical arm 322 is hinged with the mechanical claw mechanism 33 through the third worm and gear mechanism 325; through a special double-dislocation cross mechanism similar to a universal joint mechanism, 180-degree rotation spaces of the mechanical arm device 3 on two planes of y and z can be provided; specifically, the force is transmitted to the mechanical structure of the mechanical arm through the worm gear transmission system, so as to achieve the function of flexibly moving the mechanical arm device 3, because the transmission of the mechanical arm device 3 mainly provides power for the movement of the worm gear, so that the mechanical arm device 3 obtains a certain force and moves. The transmission of the gripper mechanism 33 mainly provides power through a motor at the tail end of each finger joint, and the power of the motor is transmitted to a mechanical structure of the finger joint, so that the function of flexibly moving the gripper is achieved; the gripper mechanism 33 needs to have a gripping function required during operation, sufficient flexibility and gripping capability, and a landing function required during retraction, and the design of the gripper mechanism is similar to that of the arm connecting mechanism, so as to achieve the functions of connecting arms and grippers, and on the premise that the gripper mechanism 33 has certain flexibility and a certain load pressure bearing capability.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of the present invention.

Claims

1. The utility model provides an intelligent robot who contains six rotors, its characterized in that, including the organism and with six rotor devices and the arm device that the organism is connected, set up organism upper plate, organism medium plate, organism hypoplastron, folding motor, lead screw slide mechanism and folding mechanism in the organism, the organism upper plate pass through the connecting piece with the organism hypoplastron is connected, folding motor connects the organism upper plate with just be in on the organism medium plate the organism upper plate with between the organism medium plate, lead screw slide mechanism includes engaged with lead screw and slip nut, folding mechanism includes six T type pull rods and six connecting rods, six rotor devices include six sleeve pipes, the one end of T type pull rod with slip nut is articulated, the other end of T type pull rod with the one end of connecting rod is articulated, the other end of connecting rod with bushing, the sleeve pipe articulates on the organism.

2. An intelligent robot comprising six rotors according to claim 1 and wherein said six rotor installation further comprises a rotor motor and a propeller connected, said rotor motor being connected to the end of said sleeve.

3. An intelligent robot comprising six rotors according to claim 2, wherein said mechanical arm device comprises a connecting mechanism for connecting said machine body, a mechanical arm mechanism and a mechanical claw mechanism for grabbing, which are connected in sequence.

4. The intelligent robot with the six rotor wings as claimed in claim 3, wherein the connecting mechanism comprises a rotating motor, an upper fixing disk, a lower fixing disk and a fixing plate, the rotating motor is connected to the upper fixing disk, a bearing is arranged between the upper fixing disk and the lower fixing disk, and the rotating motor is sleeved with the bearing and fixedly connected with the fixing plate.

5. The intelligent robot with six rotors according to claim 4, wherein the lower body plate is connected with the upper fixing plate and the lower fixing plate through spring constraint screws.

6. An intelligent robot comprising six rotors according to claim 5, wherein said spring-constrained screw is sleeved with a spring.

7. The intelligent robot with the six rotors according to claim 6, wherein the arm mechanism comprises a first mechanical arm and a second mechanical arm hinged to the first mechanical arm, a first worm and gear mechanism is arranged on the first mechanical arm, the first worm and gear mechanism comprises a steering engine, a worm gear and a worm which are sequentially connected, and the worm is connected with the fixing plate through a double-staggered cross mechanism.

8. An intelligent robot comprising six rotors according to claim 7, wherein a second worm gear mechanism is provided on the second mechanical arm, the second worm gear mechanism has the same structure as the first worm gear mechanism, and the second mechanical arm is connected to the fixing rod of the first mechanical arm through the second worm gear mechanism.

9. An intelligent robot comprising six rotors according to claim 8, wherein a third worm gear mechanism is further disposed on the second mechanical arm, the third worm gear mechanism has the same structure as the first worm gear mechanism, and the second mechanical arm is hinged to the claw mechanism through the third worm gear mechanism.