CN111941434B - Multifunctional wheel type carrying robot - Google Patents
Multifunctional wheel type carrying robot Download PDFInfo
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- CN111941434B CN111941434B CN202010800120.5A CN202010800120A CN111941434B CN 111941434 B CN111941434 B CN 111941434B CN 202010800120 A CN202010800120 A CN 202010800120A CN 111941434 B CN111941434 B CN 111941434B
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- driving
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- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 230000005484 gravity Effects 0.000 description 22
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000035939 shock Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000003867 tiredness Effects 0.000 description 1
- 208000016255 tiredness Diseases 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/12—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action
- B60T1/14—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action directly on road
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention provides a multifunctional wheel type carrying robot, and belongs to the technical field of robots. The parking control device solves the problem that the existing robot is low in flexibility and cannot realize parking. The multifunctional wheel type carrying robot comprises a base, a left wheel arranged on the left side of the base and a right wheel arranged on the right side of the base, wherein a counterweight unit and a driving assembly used for driving the counterweight unit to move back and forth are arranged on the base, a pallet located above the counterweight unit is further arranged on the base, a support is arranged above the pallet, a swing frame driven by a power unit to swing is arranged on the support, the rotation center line of the swing frame horizontally extends along the left-right direction, and an execution instrument is arranged at one end of the swing frame far away from the support. The invention can keep the robot in a balanced state by changing the position of the counterweight unit, the robot can not incline, the robot is beneficial to carrying goods, the swing frame is matched with the whole tilting of the wheeled robot, various operations can be realized, and the flexibility is high.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a multifunctional wheeled carrying robot.
Background
Currently, the full-automatic transportation robot is widely applied, and has the advantages that: can replace higher and higher manpower cost, has high durability and no tiredness, can execute tasks in polluted environments and dangerous environments, and can replace manual execution of tasks with harm to human bodies. The existing transport robots are mostly driven by four wheels or auxiliary driving wheels of universal wheels, the size of the base is large, the manufacturing cost is high, the required walking space is large, and the transfer of the robots is not facilitated.
For this reason, chinese patent discloses a multi-degree of freedom variable center of gravity two-wheeled robot [ authorized bulletin number CN102923204B ], which is modified on the basis of a common two-wheeled robot, and has two degrees of freedom added for changing the center of gravity, so that the balance of the two-wheeled vehicle is better maintained in motion, wherein one degree of freedom is a bearing slider on the two-wheeled robot, and the position of the center of gravity is changed by adjusting the position of the slider on the carrying board of the robot.
Although the gravity center of the robot can be adjusted by changing the position of the sliding block, the sliding block is positioned at the uppermost part of the robot, and when the position of the sliding block is changed, the inclination state of the robot is required to be changed to maintain balance, so that the robot is not beneficial to carrying goods and has a small application range. And the parking assembly is not arranged, so that when the robot collides with an obstacle at a high speed, the robot can fall down under the action of inertia, and the robot is not easy to recover in a limited space.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a multifunctional wheel type carrying robot with wide and flexible movement range.
The aim of the invention can be achieved by the following technical scheme:
the multifunctional wheel type carrying robot comprises a base, a left wheel arranged on the left side of the base and a right wheel arranged on the right side of the base, wherein a counterweight unit and a driving assembly used for driving the counterweight unit to move back and forth are arranged on the base, a pallet located above the counterweight unit is further arranged on the base, a support is arranged above the pallet, a swinging swing frame driven by a power unit is arranged on the support, a rotation center line of the swing frame horizontally extends along the left-right direction, and an executing instrument is arranged at one end of the swing frame far away from the support.
The left wheel and the right wheel are respectively one and are coaxially arranged. The left wheel is driven by a first hub motor arranged in the left wheel, and the right wheel is driven by a second hub motor arranged in the right wheel. The first wheel hub motor and the second wheel hub motor comprise an inner stator and an outer rotor sleeved on the inner stator, the outer rotor rotates around the central axis of the inner stator during operation, a left wheel is fixed on the outer rotor of the first wheel hub motor, and a right wheel is fixed on the outer rotor of the second wheel hub motor. When the rotating speeds of the left wheel and the right wheel are the same, the robot moves linearly; when the rotating speeds of the left wheel and the right wheel are different, the steering of the robot can be realized: when the left wheel speed is greater than the right wheel speed, the robot turns right, and otherwise, the robot turns left.
The back and forth movement of the counterweight unit can change the gravity center of the whole robot, so that the balance state of the robot can be adjusted. When the robot is in a balanced state, the projection point of the gravity center of the whole robot on the horizontal plane is positioned on the projection line of the central axis of the left wheel on the horizontal plane.
The executing device can be a camera, a sensor, an illumination light source, a traction interface and the like, can realize operations such as shooting, gas detection, cable traction and the like in cooperation with the whole tilting of the wheeled robot, and can also execute operations such as pressing an elevator and the like. The implement may also be a robotic arm.
The power unit for driving the swing frame to swing is a motor, the motor is fixed on the bracket, one end of the swing frame, which is far away from the executing instrument, is fixedly connected with an output shaft of the motor, or a speed reducer driven by the motor is arranged at the front end of the motor, and one end of the swing frame, which is far away from the executing instrument, is fixedly connected with an output shaft of the speed reducer. When the motor works, the swing frame is driven to swing.
In the multifunctional wheel type carrying robot, the left side of the base is provided with a left side plate, the right side of the base is provided with a right side plate, the left wheel is arranged on the left side plate, the right wheel is arranged on the right side plate, the pallet is arranged between the left side plate and the right side plate, the bottom of the pallet is provided with a mounting plate, and the driving assembly is arranged on the mounting plate.
The left side plate and the right side plate are symmetrically arranged at the left side and the right side of the base; the left end of the pallet is fixedly connected with the left side plate, and the right end of the pallet is fixedly connected with the right side plate; the left end of the bracket is fixedly connected with the top of the left side plate, and the right end of the bracket is fixedly connected with the top of the right side plate. The stator of the first hub motor for driving the left wheel is fixed on the left side plate, and the stator of the second hub motor for driving the right wheel is fixed on the right side plate. Wherein, the axis of left wheel is perpendicular with the mounting panel.
In the multifunctional wheel type carrying robot, the driving assembly comprises a driving motor arranged on the mounting plate, a driving wheel driven by the driving motor, a first driven wheel, a second driven wheel arranged on the mounting plate and a transmission belt sequentially wound on the driving wheel, the first driven wheel and the second driven wheel, wherein the part of the transmission belt straightened by the first driven wheel and the second driven wheel horizontally extends along the front-back direction, and the counterweight unit is connected to the part of the transmission belt straightened by the first driven wheel and the second driven wheel.
The driving motor is located one side of the mounting plate, the driving wheel, the first driven wheel, the second driven wheel and the transmission belt are located on the other side of the mounting plate, the driving motor drives the driving wheel to rotate when working, and the driving wheel drives the first driven wheel and the second driven wheel to synchronously rotate through the transmission belt. The portion of the driving belt straightened by the first driven wheel and the second driven wheel moves linearly in the front-back direction, thereby driving the counterweight unit fixedly connected thereto to move back and forth.
In the multifunctional wheel type carrying robot, the mounting plate is provided with the first guide groove, the first guide block which is arranged in the first guide groove in a sliding manner and the first limiting block which is fixed on the mounting plate, the first limiting block is internally connected with the first adjusting rod in a threaded manner, one end of the first adjusting rod is rotatably connected with the first guide block, and the first guide block is provided with the first tensioning wheel which is used for tensioning the transmission belt.
The first guide groove extends along a connecting line perpendicular to the driving wheel and the first driven wheel, and when the first adjusting rod is rotated, the first guide block can be driven to slide in the first guide groove, so that the position of the first tensioning wheel is changed, and the purpose of tensioning the transmission belt is achieved.
In the multifunctional wheel type carrying robot, the mounting plate is further provided with a second guide groove, a second guide block arranged in the second guide groove in a sliding mode and a second limiting block fixed on the mounting plate, the second limiting block is internally connected with a second adjusting rod in a threaded mode, one end of the second adjusting rod is rotatably connected with the second guide block, and the second guide block is provided with a second tensioning wheel used for tensioning the transmission belt.
The second guide groove extends along a connecting line perpendicular to the driving wheel and the second driven wheel, and when the second adjusting rod is rotated, the second guide block can be driven to slide in the second guide groove, so that the position of the second tensioning wheel is changed, and the purpose of tensioning the transmission belt is achieved.
The first guide groove and the second guide groove are symmetrically arranged.
In the multifunctional wheeled carrying robot, the middle part of the base is provided with a guide rail extending along the front-back direction, the guide rail is provided with a sliding block, and the counterweight unit is arranged on the sliding block. The guide rail is a linear guide rail, and the gravity center of the counterweight unit is positioned right above the linear guide rail.
In the above-mentioned multifunctional wheeled carrier robot, the weight unit includes a slide box fixed on the slide block and an inherent part provided in the slide box. The two sides of the sliding block are provided with the sliding box, the sliding box is internally provided with the inherent parts, the inherent parts are indispensable parts of the robot, the weight of the robot is not increased, and the load capacity can be improved. The inherent components can be a battery and an electric box of the robot, the battery supplies electric energy for the two hub motors and the driving motor, a controller is arranged in the electric box, and the controller controls the actions of the hub motors and the actions of the driving motor. A gyroscope sensor for sensing balance is arranged in the pallet or the electric box and is electrically connected with a signal input end of the controller.
In the multifunctional wheeled carrying robot, a first guide hole is formed in the front portion of the base, a first parking rod is slidably matched in the first guide hole, and a first rack extending longitudinally is connected to the first parking rod; the base on have linked firmly a parking motor, coaxial first gear that has linked firmly on the output shaft of parking motor, first gear and first rack meshing.
When the robot needs to park in the advancing process, signals are transmitted to the controller, the controller controls the first parking motor to work to drive the first gear to rotate, the first gear drives the first rack to move downwards, the first parking rod is driven to move downwards, and the lower end of the first parking rod abuts against the walking plane to realize parking. At the moment, the whole robot is supported at three points through the left wheel, the right wheel and the first parking rod, so that the stability of the robot is improved. In order to improve the parking effect, an elastic shock pad is arranged at the lower end of the first parking rod. When the robot is in a parking state, the connecting lines of points of the left wheel, the right wheel and the first parking rod, which are contacted with the ground, are triangular.
In the multifunctional wheeled carrying robot, a second guide hole is formed in the rear portion of the base, a second parking rod is slidably matched in the second guide hole, and a second rack extending longitudinally is connected to the second parking rod; the base on have linked firmly the second parking motor, coaxial second gear that has linked firmly on the output shaft of second parking motor, second gear and second rack meshing.
When the robot needs to park in the backward process, signals are transmitted to the controller, the controller controls the second parking motor to work to drive the second gear to rotate, the second gear drives the second rack to move downwards, the second parking rod is driven to move downwards, and the lower end of the second parking rod abuts against the walking plane to realize parking. At the moment, the whole robot is supported at three points through the left wheel, the right wheel and the second parking rod, so that the stability of the robot is improved. In order to improve the parking effect, an elastic shock pad is arranged at the lower end of the second parking rod. When the robot is in a parking state, the connecting lines of points of the left wheel, the right wheel and the second parking rod, which are contacted with the ground, are triangular.
When the robot is in a balanced state, the upper surfaces of the base and the pallet are level with the horizontal plane. When goods are put in, the robot can keep a balanced state by changing the position of the counterweight unit, and the pallet cannot incline, so that the robot is beneficial to carrying the goods.
When no goods are placed on the pallet, the projection point of the gravity center of the whole robot on the horizontal plane is positioned on the projection line of the central axis of the left wheel on the horizontal plane, and the robot is kept in a balanced state. When the projection point of the gravity center of the placed goods on the horizontal plane is positioned on the projection line of the central axis of the left wheel on the horizontal plane, the robot is still in a balanced state, and the driving assembly does not need to drive the counterweight unit to move back and forth.
When the projection point of the gravity center of the placed goods on the horizontal plane is positioned in front of the projection line of the central axis of the left wheel on the horizontal plane, the robot is unbalanced and has a forward tilting trend, and at the moment, the driving assembly drives the counterweight unit to move backwards, so that the integral gravity center of the robot returns to the projection line of the central axis of the left wheel on the horizontal plane at the projection point of the horizontal plane. When the projection point of the gravity center of the placed goods on the horizontal plane is positioned behind the projection line of the central axis of the left wheel on the horizontal plane, the robot is unbalanced and has a tendency of tilting backwards, and at the moment, the driving assembly drives the counterweight unit to move forwards, so that the integral gravity center of the robot returns to the projection line of the central axis of the left wheel on the horizontal plane at the projection point of the horizontal plane.
Compared with the prior art, the multifunctional wheel type carrying robot has the following advantages:
after goods are placed in the robot, the robot can keep a balanced state by changing the position of the counterweight unit, and the robot cannot incline, so that the robot is beneficial to carrying the goods; due to the arrangement of the first parking rod and the second parking rod, the parking of the robot can be realized, the stability of the robot is improved, and the robot is effectively prevented from toppling over; the swing frame is matched with the whole tilting of the wheeled robot, so that various operations can be realized, and the flexibility is high.
Drawings
Fig. 1 is a schematic view of a robot provided by the invention when loaded with goods.
Fig. 2 is a schematic structural view of a robot provided by the present invention.
Fig. 3 is a schematic view of a part of the structure of the robot provided by the invention.
Fig. 4 is a schematic structural view of a driving assembly provided by the present invention.
Fig. 5 is a schematic view of another structure of the driving assembly provided by the present invention.
In the figure, 1, a base; 2. a left wheel; 3. a right wheel; 4. a pallet; 5. a bracket; 6. a power unit; 7. a swing frame; 8. executing an instrument; 9. a left side plate; 10. a right side plate; 11. a mounting plate; 12. a driving motor; 13. a driving wheel; 14. a first driven wheel; 15. a second driven wheel; 16. a transmission belt; 17. a first guide groove; 18. a first guide block; 19. a first limiting block; 20. a first adjusting lever; 21. a first tensioning wheel; 22. a second guide groove; 23. a second guide block; 24. a second limiting block; 25. a second adjusting lever; 26. a second tensioning wheel; 27. a guide rail; 28. a slide block; 29. a slide box; 30. an intrinsic component; 31. a first parking lever; 32. a first rack; 33. a first parking motor; 34. a first gear; 35. a second parking lever; 36. a second rack; 37. a second parking motor; 38. and a second gear.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
The multifunctional wheel type carrying robot as shown in fig. 1 and 2 comprises a base 1, a left wheel 2 arranged on the left side of the base 1 and a right wheel 3 arranged on the right side of the base 1. Specifically, as shown in fig. 3, a left side plate 9 is disposed on the left side of the base 1, a right side plate 10 is disposed on the right side of the base, and the left side plate 9 and the right side plate 10 are symmetrically disposed on the left and right sides of the base 1. The left wheel 2 is arranged on the left side plate 9, the right wheel 3 is arranged on the right side plate 10, and the left wheel 2 and the right wheel 3 are respectively arranged coaxially. The left wheel 2 is driven by a first in-wheel motor provided inside thereof, and the right wheel 3 is driven by a second in-wheel motor provided inside thereof. The first wheel hub motor and the second wheel hub motor comprise an inner stator and an outer rotor sleeved on the inner stator, the outer rotor rotates around the central axis of the inner stator during operation, the left wheel 2 is fixed on the outer rotor of the first wheel hub motor, and the right wheel 3 is fixed on the outer rotor of the second wheel hub motor. When the rotating speeds of the left wheel 2 and the right wheel 3 are the same, the robot moves linearly; when the rotation speeds of the left wheel 2 and the right wheel 3 are different, the steering of the robot can be realized: when the speed of the left wheel 2 is greater than that of the right wheel 3, the robot turns right, and otherwise, turns left.
As shown in fig. 3, a pallet 4 and a bracket 5 are respectively arranged between a left side plate 9 and a right side plate 10 from bottom to top, the left end of the pallet 4 is fixedly connected with the left side plate 9, and the right end thereof is fixedly connected with the right side plate 10; the left end of the bracket 5 is fixedly connected with the top of the left side plate 9, and the right end of the bracket is fixedly connected with the top of the right side plate 10. As shown in fig. 3, a swing frame 7 driven to swing by a power unit 6 is arranged on the bracket 5, the rotation center line of the swing frame 7 horizontally extends along the left-right direction, and an execution instrument 8 is arranged at one end of the swing frame 7 far away from the bracket 5. In this embodiment, the power unit 6 driving the swing frame 7 to swing is a motor, the motor is fixed on the bracket 5, one end of the swing frame 7 far away from the executing apparatus 8 is fixedly connected with an output shaft of the motor, or a reducer driven by the motor is arranged at the front end of the motor, and one end of the swing frame 7 far away from the executing apparatus 8 is fixedly connected with an output shaft of the reducer. When the motor works, the swing frame 7 is driven to swing.
The actuator 8 may be a camera, a sensor, an illumination light source, a traction interface, or the like, and may perform operations such as image capturing, gas detection, cable traction, or the like in cooperation with the overall tilting of the wheeled robot, or may perform operations such as an operation for an elevator. The implement 8 may also be a robotic arm.
The base 1 is provided with a counterweight unit, the bottom of the pallet 4 is provided with a mounting plate 11, and the mounting plate 11 is provided with a driving component for driving the counterweight unit to move back and forth. The back and forth movement of the counterweight unit can change the gravity center of the whole robot, so that the balance state of the robot can be adjusted. When the robot is in a balanced state, the projection point of the gravity center of the whole robot on the horizontal plane is positioned on the projection line of the central axis of the left wheel 2 on the horizontal plane.
As shown in fig. 4, the driving assembly includes a driving motor 12 provided on the mounting plate 11, a driving wheel 13 driven by the driving motor 12, a first driven wheel 14, a second driven wheel 15 provided on the mounting plate 11, and a driving belt 16 wound around the driving wheel 13, the first driven wheel 14, and the second driven wheel 15 in this order, a portion of the driving belt 16 straightened by the first driven wheel 14 and the second driven wheel 15 extends horizontally in the front-rear direction, and the weight unit is connected to a portion of the driving belt 16 straightened by the first driven wheel 14 and the second driven wheel 15. The driving motor 12 is located on one side of the mounting plate 11, the driving wheel 13, the first driven wheel 14, the second driven wheel 15 and the transmission belt 16 are located on the other side of the mounting plate 11, the driving motor 12 drives the driving wheel 13 to rotate when working, and the driving wheel 13 drives the first driven wheel 14 and the second driven wheel 15 to synchronously rotate through the transmission belt 16. The portion of the belt 16 straightened by the first driven pulley 14 and the second driven pulley 15 moves linearly in the front-rear direction, thereby driving the counterweight unit attached thereto to move back-and-forth.
As shown in fig. 5, the mounting plate 11 is provided with a first guide groove 17, a first guide block 18 slidably disposed in the first guide groove 17, and a first limiting block 19 fixed on the mounting plate 11, the first limiting block 19 is internally threaded with a first adjusting rod 20, one end of the first adjusting rod 20 is rotatably connected with the first guide block 18, and the first guide block 18 is provided with a first tensioning wheel 21 for tensioning the driving belt 16. The first guide groove 17 extends along a line perpendicular to the connection line between the driving wheel 13 and the first driven wheel 14, and when the first adjusting rod 20 is rotated, the first guide block 18 can be driven to slide in the first guide groove 17, so that the position of the first tensioning wheel 21 is changed, and the purpose of tensioning the driving belt 16 is achieved.
As shown in fig. 5, the mounting plate 11 is further provided with a second guide groove 22, a second guide block 23 slidably disposed in the second guide groove 22, and a second limiting block 24 fixed on the mounting plate 11, the second limiting block 24 is internally connected with a second adjusting rod 25 in a threaded manner, one end of the second adjusting rod 25 is rotatably connected with the second guide block 23, and the second guide block 23 is provided with a second tensioning wheel 26 for tensioning the driving belt 16. The second guide groove 22 extends along a connecting line perpendicular to the driving wheel 13 and the second driven wheel 15, and when the second adjusting rod 25 is rotated, the second guide block 23 can be driven to slide in the second guide groove 22, so that the position of the second tensioning wheel 26 is changed, and the purpose of tensioning the driving belt 16 is achieved.
Wherein the first guide groove 17 and the second guide groove 22 are symmetrically arranged.
As shown in fig. 4 and 5, the middle part of the base 1 has a guide rail 27 extending in the front-rear direction, a slider 28 is provided on the guide rail 27, and a counterweight unit is provided on the slider 28. The guide rail 27 is a linear guide rail 27, and the center of gravity of the counterweight unit is located directly above the linear guide rail 27.
As shown in fig. 4 to 5, the counterweight unit includes a slide case 29 fixed to the slider 28 and an inherent member 30 provided in the slide case 29. The slide boxes 29 are provided on both sides of the slide block 28, and the unique members 30 are provided in the slide boxes 29, and the unique members 30 are indispensable members of the robot, so that the weight of the robot is not increased, and the load capacity can be improved. The unique components 30 may be a battery of the robot that provides power to the two in-wheel motors and the drive motor 12, and an electrical box in which a controller is disposed that controls the operation of each in-wheel motor and the operation of the drive motor 12. A gyro sensor for inductive balancing is provided in the pallet 4 or in the electric box, the gyro sensor being electrically connected to a signal input of the controller.
As shown in fig. 5, the front part of the base 1 is provided with a first guide hole which is longitudinally arranged, a first parking rod 31 is slidably matched in the first guide hole, and a first rack 32 which longitudinally extends is connected to the first parking rod 31; the base 1 is fixedly connected with a first parking motor 33, an output shaft of the first parking motor 33 is coaxially and fixedly connected with a first gear 34, and the first gear 34 is meshed with the first rack 32.
When the robot needs to park in the forward process, signals are transmitted to the controller, the controller controls the first parking motor 33 to work to drive the first gear 34 to rotate, the first gear 34 drives the first rack 32 to move downwards, and accordingly the first parking rod 31 is driven to move downwards, and the lower end of the first parking rod 31 abuts against a walking plane to park. At this time, the whole robot is supported at three points through the left wheel 2, the right wheel 3 and the first parking rod 31, so that the stability of the robot is improved. In order to improve the parking effect, an elastic shock pad is provided at the lower end of the first parking lever 31. When the robot is in a parking state, the connecting lines of points of the left wheel 2, the right wheel 3 and the first parking rod 31, which are contacted with the ground, are triangular.
As shown in fig. 5, the rear part of the base 1 is provided with a second guide hole which is longitudinally arranged, a second parking rod 35 is slidably matched in the second guide hole, and a second rack 36 which longitudinally extends is connected to the second parking rod 35; the base 1 is fixedly connected with a second parking motor 37, an output shaft of the second parking motor 37 is coaxially and fixedly connected with a second gear 38, and the second gear 38 is meshed with the second rack 36.
When the robot needs to park in the backward process, signals are transmitted to the controller, the controller controls the second parking motor 37 to work to drive the second gear 38 to rotate, the second gear 38 drives the second rack 36 to move downwards, and accordingly the second parking rod 35 is driven to move downwards, and the lower end of the second parking rod 35 abuts against a walking plane to park. At this time, the whole robot is supported at three points through the left wheel 2, the right wheel 3 and the second parking rod 35, so that the stability of the robot is improved. In order to improve the parking effect, an elastic shock pad is provided at the lower end of the second parking lever 35. When the robot is in a parking state, the connecting lines of points of the left wheel 2, the right wheel 3 and the second parking rod 35, which are contacted with the ground, are triangular.
When the robot is in equilibrium, the upper surfaces of the base 1 and pallet 4 are flush with the horizontal plane. When the goods are put in, the robot can be kept in a balanced state by changing the position of the counterweight unit, and the pallet 4 cannot incline, so that the goods can be carried.
When no goods are placed on the pallet 4, the projection point of the gravity center of the whole robot on the horizontal plane is positioned on the projection line of the central axis of the left wheel 2 on the horizontal plane, and the robot is kept in a balanced state. When the projection point of the gravity center of the placed goods on the horizontal plane is positioned on the projection line of the central axis of the left wheel 2 on the horizontal plane, the robot is still in a balanced state, and the driving assembly does not need to drive the counterweight unit to move back and forth.
When the projection point of the gravity center of the placed goods on the horizontal plane is positioned in front of the projection line of the central axis of the left wheel 2 on the horizontal plane, the robot is unbalanced and has a forward tilting trend, and at the moment, the driving assembly drives the counterweight unit to move backwards, so that the integral gravity center of the robot returns to the projection line of the central axis of the left wheel 2 on the horizontal plane at the projection point of the horizontal plane. When the projection point of the gravity center of the placed goods on the horizontal plane is positioned behind the projection line of the central axis of the left wheel 2 on the horizontal plane, the robot is unbalanced and has a tendency of tilting backwards, and at the moment, the driving assembly drives the counterweight unit to move forwards, so that the integral gravity center of the robot returns to the projection line of the central axis of the left wheel 2 on the horizontal plane at the projection point of the horizontal plane.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (6)
1. The multifunctional wheel type carrying robot comprises a base (1), a left wheel (2) arranged on the left side of the base (1) and a right wheel (3) arranged on the right side of the base (1), and is characterized in that a counterweight unit and a driving assembly for driving the counterweight unit to move forwards and backwards are arranged on the base (1), a pallet (4) arranged above the counterweight unit is further arranged on the base (1), a support (5) is arranged above the pallet (4), a swing frame (7) driven by a power unit (6) to swing is arranged on the support (5), the rotation center line of the swing frame (7) horizontally extends along the left-right direction, and an execution instrument (8) is arranged at one end, far away from the support (5), of the swing frame (7); the bottom of the pallet (4) is provided with a mounting plate (11), the mounting plate (11) is provided with a first guide groove (17), a first guide block (18) arranged in the first guide groove (17) in a sliding manner and a first limiting block (19) fixed on the mounting plate (11), the first limiting block (19) is internally connected with a first adjusting rod (20) in a threaded manner, one end of the first adjusting rod (20) is rotatably connected with the first guide block (18), and the first guide block (18) is provided with a first tensioning wheel (21) for tensioning a transmission belt (16); the mounting plate (11) is also provided with a second guide groove (22), a second guide block (23) which is arranged in the second guide groove (22) in a sliding manner and a second limiting block (24) which is fixed on the mounting plate (11), the second limiting block (24) is internally connected with a second adjusting rod (25) in a threaded manner, one end of the second adjusting rod (25) is rotatably connected with the second guide block (23), and the second guide block (23) is provided with a second tensioning wheel (26) which is used for tensioning the transmission belt (16); the middle part of base (1) has guide rail (27) along fore-and-aft direction extension, be equipped with slider (28) on guide rail (27), above-mentioned counter weight unit locates on slider (28).
2. The multifunctional wheel type carrying robot according to claim 1, wherein a left side plate (9) is arranged on the left side of the base (1), a right side plate (10) is arranged on the right side of the base, the left wheel (2) is arranged on the left side plate (9), the right wheel (3) is arranged on the right side plate (10), the pallet (4) is arranged between the left side plate (9) and the right side plate (10), a mounting plate (11) is arranged at the bottom of the pallet (4), and the driving assembly is arranged on the mounting plate (11).
3. The multifunctional wheel type carrying robot according to claim 2, wherein the driving assembly comprises a driving motor (12) arranged on the mounting plate (11), a driving wheel (13) driven by the driving motor (12), a first driven wheel (14) arranged on the mounting plate (11), a second driven wheel (15) and a driving belt (16) sequentially wound on the driving wheel (13), the first driven wheel (14) and the second driven wheel (15), the straightened part of the driving belt (16) by the first driven wheel (14) and the second driven wheel (15) horizontally extends along the front-back direction, and the counterweight unit is connected to the straightened part of the driving belt (16) by the first driven wheel (14) and the second driven wheel (15).
4. The multifunctional wheeled carrier robot according to claim 1, characterized in that the counterweight unit comprises a slide box (29) fixed on the slide block (28) and an inherent part (30) provided in the slide box (29).
5. The multifunctional wheeled carrier robot according to claim 1, characterized in that the front part of the base (1) is provided with a first guide hole which is longitudinally arranged, a first parking rod (31) is slidably matched in the first guide hole, and a first rack (32) which longitudinally extends is connected to the first parking rod (31); the parking device is characterized in that a first parking motor (33) is fixedly connected to the base (1), a first gear (34) is coaxially and fixedly connected to an output shaft of the first parking motor (33), and the first gear (34) is meshed with a first rack (32).
6. The multifunctional wheeled carrier robot according to claim 1 or 5, characterized in that the rear part of the base (1) is provided with a second guide hole which is longitudinally arranged, a second parking rod (35) is slidably matched in the second guide hole, and a second rack (36) which longitudinally extends is connected to the second parking rod (35); the base (1) is fixedly connected with a second parking motor (37), an output shaft of the second parking motor (37) is coaxially and fixedly connected with a second gear (38), and the second gear (38) is meshed with a second rack (36).
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| CN202010800120.5A CN111941434B (en) | 2020-08-11 | 2020-08-11 | Multifunctional wheel type carrying robot |
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| CN202010800120.5A CN111941434B (en) | 2020-08-11 | 2020-08-11 | Multifunctional wheel type carrying robot |
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| CN111941434A CN111941434A (en) | 2020-11-17 |
| CN111941434B true CN111941434B (en) | 2023-12-05 |
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| EP2879009A1 (en) * | 2012-06-29 | 2015-06-03 | Kabushiki Kaisha Yaskawa Denki | Moving body and moving body system |
| CN107499393B (en) * | 2017-08-04 | 2020-11-13 | 歌尔科技有限公司 | Double round self-balancing robot |
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| JP2003285743A (en) * | 2002-03-28 | 2003-10-07 | Sanyo Electric Co Ltd | Mobile carriage |
| JP2006123854A (en) * | 2004-11-01 | 2006-05-18 | Matsushita Electric Ind Co Ltd | Cargo transportation robot |
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| CN111941434A (en) | 2020-11-17 |
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