CN110815179A - Intelligent vehicle control system carrying mechanical arm - Google Patents

Abstract

The invention relates to the technical field of mechanical equipment, and discloses an intelligent vehicle control system equipped with a mechanical arm, comprising a support seat, the support seat is installed at the bottom end of a movable foot, the number of the support seat is four, and four Each support seat is installed on the bottom end of the movable foot, the top of the movable foot is fixedly connected to one end of the traction rope, and the other end of the traction rope is fixedly connected to the left side of the power conversion device, and the inner cavity of the power conversion device is fixedly connected. A transmission rod protruding outward is fixedly sleeved, and two sleeved rings that are sleeved with each other are fixedly connected to the middle of the transmission rod. By adopting the design of movable feet and cooperating with the support base of the bottom surface of the movable feet, the present invention replaces the traditional roller-type moving method, so that the device can use the movable feet of left and right reciprocating motion to achieve the purpose of device displacement, so that the device can be applied On different grounds, the applicability of the device is greatly improved, which is the embodiment of the feasibility of the device.

Description

An intelligent vehicle control system equipped with a robotic arm

technical field

The invention relates to the technical field of mechanical equipment, in particular to an intelligent vehicle control system equipped with a mechanical arm.

Background technique

The robotic arm is a mechanized long-arm structure. The robotic arm is divided into multi-joint robotic arms according to different structural forms, Cartesian coordinate robotic arms, spherical coordinate robotic arms, polar coordinate robotic arms, and cylindrical coordinate robotic arms, etc. , The robotic arm, combined with the robot car and other devices, can replace manual work to complete many complex, cumbersome and even dangerous tasks, providing great convenience for our production and life.

At present, in the working process of smart cars with robotic arms, although they can basically meet the needs of production and life, their drawbacks are unavoidable. The main manifestations are as follows: During the use of smart cars with robotic arms, according to the mechanical arm The environment of use is also different, but most of the existing smart cars move in a fixed way and cannot adapt flexibly according to different environments; at the same time, when the working plane is bumpy, the existing smart cars may not be able to adapt to the environment In view of this, a smart vehicle control system equipped with a robotic arm is proposed to solve the above problems.

SUMMARY OF THE INVENTION

The present invention provides an intelligent vehicle control system equipped with a robotic arm, which has the advantages of strong applicability, good stability and flexible device, and solves the problems raised in the above background art.

The present invention provides the following technical solutions: an intelligent vehicle control system equipped with a robotic arm, comprising a support seat, the support seat is installed at the bottom end of the movable foot, the number of the support seats is four, and the four support seats are respectively Installed on the bottom end of the movable foot, the top of the movable foot is fixedly connected to one end of the traction rope, and the other end of the traction rope is fixedly connected to the left side of the power conversion device, and the inner cavity of the power conversion device is fixedly sleeved with a The transmission rod protruding outward, the middle of the transmission rod is fixedly connected with two socket rings that are sleeved with each other, the end of the transmission rod away from the power conversion device is fixedly sleeved with a swivel ring, and the number of the swivel rings is fixed. There are five and evenly distributed, the five swivel rings are movably sleeved with a transmission belt, the inner cavity of the middle swivel ring is fixedly sleeved on the inner cavity of the motor, and the power conversion device and the motor are respectively installed in the middle of the lower cover. and around, the middle part of the movable foot is clamped around the bottom surface of the lower cover, the surrounding area of the lower cover is provided with a roller groove located below the power conversion device, and the bottom surface of the lower cover is fixedly connected with the movable feet. A limit block, an upper cover is clamped above the lower cover, and a main control device and a mechanical arm are respectively installed on the left and right sides of the top surface of the upper cover.

Selectively, the power conversion device includes a casing, a half-tooth gear is installed in the middle of the inner cavity of the casing, a rack is engaged with the top surface of the half-tooth gear, and the right end of the rack is connected to the right side of the casing. The top surfaces of the sides are respectively fixedly connected to both ends of the spring, one end of the rack away from the spring is movably sleeved in the inner cavity of the slip ring, and the left end of the rack extends to the outside of the housing.

Optionally, the upper and lower sides of the motor are respectively fixed and sleeved with mounting rings, and the bottom surfaces of the two mounting rings are fixedly connected with the top surface of the lower cover.

Preferably, the number of the limit blocks is four, the four limit blocks are respectively inclined to the outside, and the two limit blocks on the front and the back are inclined to the left and the right respectively.

Optionally, a second swivel is installed in the middle of the movable foot, and two sides of the second swivel are fixedly connected to the bottom surface of the lower cover. The length of the movable foot under the lower cover is greater than the length of the upper movable foot.

Preferably, the support bases are always perpendicular to the ground, the top ends of the four support bases are respectively fixedly connected with bearings, and the bearings are clamped on the bottom ends of the four movable feet.

Preferably, one end of the transmission rod away from the roller groove is respectively fixedly sleeved in the inner cavity of the swivel ring, and one end of the transmission rod close to the roller groove is fixedly sleeved in the middle of the half-tooth gear.

Preferably, the transmission belt is parallel to the lower cover and the upper cover, respectively, and the upper and lower sides of the lower cover are not in contact with the lower cover and the upper cover.

The present invention has the following beneficial effects:

1. The present invention adopts the design of movable feet, and at the same time cooperates with the common use of the support base on the bottom surface of the movable feet, instead of the traditional roller-type moving method, so that the device can use the movable feet of the left and right reciprocating motion to achieve the purpose of the device displacement, ensuring that the device can be displaced. It can be applied to different grounds, greatly improves the applicability of the device, and is the embodiment of the feasibility of the device.

2. The present invention adopts the design of a detachable power conversion device, and at the same time cooperates with the common use of the roller groove below the power conversion device, so that the device can directly use the movable feet to move or replace the rollers to roll and displace, so as to achieve the purpose of the device being suitable for different environments. , realizes the replacement of the moving mode, solves the problem of the large limitation of the traditional device, and also reflects the practicability of the device.

3. The present invention adopts the design of using four movable feet and a support seat respectively around the bottom surface of the lower cover. At the same time, the support seat is set to be rotatable and the bottom surface is always parallel to the ground, so that the device can always be kept on the ground during the operation of the device. The parallel of the device ensures the stability of the device and solves the problem of poor balance effect of the traditional device.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Figure 2 is a schematic diagram of the structure of the lower cover of the present invention;

FIG. 3 is a schematic structural diagram of the power conversion device of the present invention.

In the figure: 1, support seat; 2, movable feet; 3, traction rope; 4, power conversion device; 41, shell; 42, half-tooth gear; 43, rack; 44, spring; 45, slip ring; 5 , transmission rod; 6, socket ring; 7, swivel ring; 8, transmission belt; 9, motor; 10, lower cover; 11, roller groove; 12, limit block; 13, upper cover; 14, main control device; 15. Robotic arm.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Please refer to Figure 1-3, a smart car control system equipped with a robotic arm, including a support base 1, the support base 1 is always perpendicular to the ground, the tops of the four support bases 1 are fixedly connected with bearings, and the bearings are clamped on the ground. The bottom ends of the four movable feet 2 are provided with bearings at the top of the support base 1, and the bearings are clamped at the bottom end of the movable feet 2, so that the support base 1 can sag with its own gravity during the movement of the device. , to achieve the purpose of always being parallel to the ground, ensuring the stability of the device, the support base 1 is installed at the bottom end of the movable foot 2, the middle of the movable foot 2 is installed with a swivel two, and the two sides of the swivel two are fixedly connected to the lower cover. 10, the length of the movable foot 2 below the lower cover 10 is greater than the length of the upper movable foot 2. When the motor 9 drives the rack 43 to reciprocate left and right, the traction rope 3 will also pull the top of the movable foot 2 left and right. For movement, by adopting the design of the swivel two in the middle of the movable foot 2, the bottom end of the movable foot 2 can generate an opposite action force, which is the main reason why the device can move. There are four support seats 1, and four Each support base 1 is respectively installed on the bottom end of the movable foot 2, the top of the movable foot 2 is fixedly connected to one end of the traction rope 3, and the other end of the traction rope 3 is fixedly connected to the left side of the power conversion device 4, and the power conversion device 4 It includes a casing 41, a half-tooth gear 42 is installed in the middle of the inner cavity of the casing 41, a rack 43 is engaged with the top surface of the half-tooth gear 42, and the right end of the rack 43 is fixedly connected to the top surface of the right side of the casing 41 respectively. At both ends of the spring 44, one end of the rack 43 away from the spring 44 is movably sleeved in the inner cavity of the slip ring 45, and the left end of the rack 43 protrudes to the outside of the housing 41, and the output shaft of the motor 9 is fixedly sleeved In the inner cavity of the half-tooth gear 42, when the motor 9 drives the half-tooth gear 42 to rotate continuously, due to the interaction between the half-tooth gear 42 and the rack 43, the rack 43 will move to the left. When the 42 rotates to the side without the gear block, the rack 43 loses the force of meshing with the half-tooth gear 42, and under the elastic force of the spring 44, the rack 43 can be reset immediately. When the motor 9 continues to rotate, the rack 43 will also do the work of left and right circulation, so that the force of the rotation of the motor 9 can be converted into the force of the left and right circulation through the power conversion device 4, and the inner cavity of the power conversion device 4 is fixedly sleeved with a transmission rod 5 extending outward. , one end of the transmission rod 5 away from the roller groove 11 is fixedly sleeved in the inner cavity of the swivel ring 7, and one end of the transmission rod 5 close to the roller groove 11 is fixedly sleeved in the middle of the half-tooth gear 42. The transmission rod 5 mainly plays the role of power The function of transmission, when the transmission belt 8 drives the transmission rod 5 to rotate, the transmission rod 5 can transmit the force of its own rotation to the half-toothed gear 42 to achieve the effect of changing the movement mode. The middle of the transmission rod 5 is fixedly connected with each other. Two socket rings 6, one end of the transmission rod 5 away from the power conversion device 4 is fixedly socketed with a swivel ring 7, the number of the swivel rings 7 is five and evenly distributed, and the five swivel rings 7 are movably sleeved with a transmission belt 8, The transmission belt 8 is parallel to the lower cover 10 and the upper cover 13 respectively. The upper and lower sides are not in contact with the lower cover 10 and the upper cover 13. When the device is moving, its transmission belt 8 is in a state of constant movement. The design of mutual contact can ensure that the transmission belt 8 can be in a good rotation state, and avoid the problem of friction with the lower cover 10 and the upper cover 13 that affects the normal movement of the device. The upper and lower sides of the motor 9 are respectively fixed and sleeved with mounting rings, and the bottom surfaces of the two mounting rings and the top surface of the lower cover 10 are fixedly connected. The motor 9 is the main source of the active force of the device. The sides are respectively sleeved with mounting rings, which can ensure the stability of the position of the motor 9. The power conversion device 4 and the motor 9 are respectively installed in the middle and around the lower cover 10. The middle of the movable foot 2 is clamped around the bottom of the lower cover 10. There are roller grooves 11 located below the power conversion device 4 around the perimeter of the lower cover 10, and limit blocks 12 located on the side of the movable foot 2 are fixedly connected to the bottom surface of the lower cover 10. The number of the limit blocks 12 is four, and the four limit blocks The blocks 12 are respectively inclined to the outside, and the two limit blocks 12 on the front and the back are inclined to the left and right respectively. Under the action of the limit block 12, the movable foot 2 can always move according to the specified angle, which indirectly ensures the stability of the device. The upper cover 13 is clamped above the lower cover 10, and the top surface of the upper cover 13 is on the left and right sides. The main control device 14 and the robot arm 15 are respectively installed on the sides.

Working principle: When using, firstly, according to the different use environment of the device, two different moving modes of movable feet 2 or rollers are adopted. The force of the rotation of the motor 9 can be transmitted to the power conversion device 4, and then under the action of the structure of the power conversion device 4, the effect of the left and right reciprocating motion of the movable foot 2 can be realized, so that the support base 1 can be pressed against the ground when it continues to move. To achieve the effect of device displacement; when using the moving method of rollers, first pull out the sleeve ring 6, and remove the top end of the traction rope 3 from the outer end of the rack 43, then the power conversion device 4 as a whole will lose its fixation After the power conversion device 4 is removed, a roller is placed in the inner cavity of the roller groove 11, so that the middle of the roller can be fixed with the transmission rod 5. At this time, when the device works again, the motor 9 can be rotated directly. The force is transmitted to the roller through the transmission belt 8 to achieve the purpose of rolling displacement.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Meanwhile, in the drawings of the present invention, the filling pattern is only for distinguishing layers, and does not make any other limitation.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (8)

1. An intelligent vehicle control system equipped with a robotic arm, comprising a support seat (1), characterized in that: the support seat (1) is mounted on the bottom end of a movable foot (2), and the support seat (1) is There are four in number, and the four support seats (1) are respectively installed on the bottom ends of the movable feet (2), the top ends of the movable feet (2) are fixedly connected to one end of the traction rope (3), and the traction rope (3) ) is fixedly connected to the left side of the power conversion device (4), the inner cavity of the power conversion device (4) is fixedly sleeved with a transmission rod (5) extending outward, and the transmission rod (5) Two socket rings (6) that are sleeved with each other are fixedly connected to the middle of the transmission rod (5), and a swivel (7) is fixedly sleeved at one end of the transmission rod (5) away from the power conversion device (4). The number of ) is five and evenly distributed, the five swivels (7) are movably sleeved with a transmission belt (8), and the inner cavity of the middle swivel (7) is fixedly sleeved inside the motor (9). The power conversion device (4) and the motor (9) are respectively installed in the middle and around the lower cover (10), the middle of the movable foot (2) is clamped around the bottom surface of the lower cover (10), the lower A roller groove (11) located below the power conversion device (4) is opened around the cover (10), and a limit block (12) located on the side of the movable foot (2) is fixedly connected around the bottom surface of the lower cover (10). ), an upper cover (13) is clamped above the lower cover (10), and a main control device (14) and a mechanical arm (15) are respectively installed on the left and right sides of the top surface of the upper cover (13). 2 . The intelligent vehicle control system equipped with a robotic arm according to claim 1 , wherein the power conversion device ( 4 ) comprises a casing ( 41 ), and the inner cavity of the casing ( 41 ) has an inner cavity. 3 . A half-toothed gear (42) is installed in the middle, the top surface of the half-toothed gear (42) is engaged with a rack (43), and the right end of the rack (43) and the top surface of the right side of the housing (41) are respectively It is fixedly connected to both ends of the spring (44), one end of the rack (43) away from the spring (44) is movably sleeved in the inner cavity of the slip ring (45), and the left end of the rack (43) protrudes to the shell outside of the body (41). 3 . The intelligent vehicle control system equipped with a robotic arm according to claim 1 , wherein the upper and lower sides of the motor ( 9 ) are respectively fixed and sleeved with mounting rings, and the bottom surfaces of the two mounting rings are respectively fixed. 4 . It is fixedly connected with the top surface of the lower cover (10). 4. The intelligent vehicle control system equipped with a robotic arm according to claim 1, characterized in that: the number of the limit blocks (12) is four, and the four limit blocks (12) are directed toward the The outside is inclined, and the two limit blocks (12) on the front and the back are inclined to the left and right respectively. 5 . The intelligent vehicle control system equipped with a robotic arm according to claim 1 , wherein a second swivel ring is installed in the middle of the movable foot ( 2 ), and two sides of the second swivel ring are fixedly connected respectively. 6 . On the bottom surface of the lower cover (10), the length of the movable feet (2) below the lower cover (10) is greater than the length of the upper movable feet (2). 6. A smart vehicle control system equipped with a robotic arm according to claim 1, characterized in that: the support base (1) is always perpendicular to the ground, and the tops of the four support bases (1) are respectively fixed Bearings are connected, and the bearings are clamped on the bottom ends of the four movable feet (2). 7 . The intelligent vehicle control system equipped with a robotic arm according to claim 1 , wherein one end of the transmission rod ( 5 ) away from the roller groove ( 11 ) is respectively fixed and sleeved on the swivel ring ( 7 ). 8 . the inner cavity, and one end of the transmission rod (5) close to the roller groove (11) is fixedly sleeved in the middle of the half-tooth gear (42). 8 . The intelligent vehicle control system equipped with a robotic arm according to claim 1 , wherein the transmission belt ( 8 ) is parallel to the lower cover ( 10 ) and the upper cover ( 13 ) respectively, and the lower cover The upper and lower sides of (10) are not in contact with the lower cover (10) and the upper cover (13).

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