CN220297098U - Crawler-type industrial robot - Google Patents

Abstract

The utility model provides a crawler-type industrial robot, and relates to the technical field of robots. The device comprises a movable base, wherein the lower end of the movable base is provided with a rotating wheel and a crawler belt sleeved on the rotating wheel, and the upper end of the movable base is provided with a connecting seat; the upper end of the connecting seat is provided with a bearing frame, a signal tower and a rotating base; the bearing frame is provided with a bearing disc for bearing articles; wherein, a signal circuit for receiving and processing control signals is arranged in the signal tower; the rotary base upper end is equipped with the switching cloud platform, the switching cloud platform is connected with the arm, the end of arm is equipped with the robot that is used for the transport. The crawler belt on the rotating wheel is used for executing tasks in complex environments, and the robot adopting the crawler belt structure is generally suitable for the condition of uneven surfaces, can be better suitable for various environments and has stronger obstacle crossing capability.

Description

Crawler-type industrial robot

Technical Field

The utility model relates to the technical field of robots, in particular to a crawler-type industrial robot.

Background

With the development of technology, industrial intelligence is becoming more and more important, and a Robot (Robot) is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots can perform tasks such as tasks or movements through programming and automatic control.

In the market, common industrial robots move, the movement is generally realized by the design of wheels or bionic legs driven by a motor, but the robots cannot well perform tasks in complex environments, the design of the wheels or the bionic legs can not well embody the carrying capacity of the robots, the function of the robots is limited, and the applicability to the environment is not strong, for example, the application in the aspects of cleaning robots in industry, exploration robots in mines, harvesting robots in agriculture and the like can be limited; accordingly, the present utility model is directed to a tracked industrial robot that at least partially addresses the problems that may exist in the prior art.

Disclosure of Invention

The utility model aims to provide a crawler-type industrial robot which can solve the defects of the prior art, can be better adapted to various environments and has stronger obstacle crossing capability.

In order to solve the technical problems, the utility model adopts the following technical scheme:

the crawler-type industrial robot is a transfer robot and comprises a movable base, wherein the lower end of the movable base is provided with a rotating wheel and a crawler sleeved on the rotating wheel, and the upper end of the movable base is provided with a connecting seat;

the upper end of the connecting seat is provided with a bearing frame, a signal tower and a rotating base; the bearing frame is provided with a bearing disc for bearing articles; wherein, a signal circuit for receiving and processing control signals is arranged in the signal tower;

the rotary base upper end is equipped with the switching cloud platform, the switching cloud platform is connected with the arm, the end of arm is equipped with the manipulator that is used for the transport.

Further, in the utility model, the connecting seat is further provided with a connecting rod, and the connecting rod is provided with a first camera.

Further, in the present utility model, the connecting rod is a telescopic connecting rod.

Further, in the utility model, the manipulator comprises a claw seat and a claw piece, wherein the claw seat is connected with the tail end of the manipulator; the claw piece is movably connected to the claw seat;

and the claw seat is also provided with a second camera.

Further, in the utility model, the signal circuit comprises a positioning unit which comprises a main control board, wherein the main control board is electrically connected to a power supply module, an interface, a Beidou positioning transmission module and a wireless network module;

the Beidou positioning transmission module and the wireless network module are respectively connected with an antenna.

Further, in the present utility model, the signal circuit further includes a GSM unit including a GSM-R module and a GSM motherboard electrically connected to each other; the GSM main board is electrically connected with the main control board through the interface; the GSM-R module is connected with an antenna.

In the utility model, the main control board is also electrically connected with an indicator light, and the signal tower is provided with a window for transmitting the indicator light to emit light.

Further, in the present utility model, the signal circuit further includes a SLAM module and a corresponding sensor; wherein the sensor is electrically connected to the SLAM module; the SLAM module is electrically connected to the main control board through the interface.

The utility model has at least the following advantages or beneficial effects:

through the movable base, the lower end of the movable base is provided with a rotating wheel and a crawler belt sleeved on the rotating wheel, and the upper end of the movable base is provided with a connecting seat; the upper end of the connecting seat is provided with a bearing frame, a signal tower and a rotating base; the bearing frame is provided with a bearing disc for bearing articles; wherein, a signal circuit for receiving and processing control signals is arranged in the signal tower; the rotary base upper end is equipped with the switching cloud platform, the switching cloud platform is connected with the arm, the end of arm is equipped with the robot that is used for the transport. By means of the crawler on the rotating wheel so as to perform tasks in a complex environment, the robot adopting the crawler structure is generally suitable for the condition of uneven surfaces, can be better suitable for various environments, and has stronger obstacle crossing capability.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a crawler-type industrial robot according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a crawler-type industrial robot with a first camera according to an embodiment of the present utility model;

FIG. 3 is a schematic view of a tracked industrial robot having a first camera and a second camera according to an embodiment of the present utility model;

FIG. 4 is a schematic diagram of a signal circuit of a tracked industrial robot according to an embodiment of the present utility model;

fig. 5 is a schematic diagram of a circuit structure having the SLAM module in fig. 4.

In the accompanying drawings: 10. a movable base; 11. a rotating wheel; 12. a track; 13. a connecting seat; 14. a carrier; 15. a carrying tray; 16. rotating the base; 17. the cradle head is connected; 18. a mechanical arm; 19. a manipulator; 191. a claw seat; 192. a claw member; 20. a signal tower; 201. a GSM unit; 202. a positioning unit; 203. a SLAM module; 204. a sensor; 211. a GSM motherboard; 212. a GSM-R module; 221. an interface; 222. a main control board; 223. a power module; 224. the Beidou positioning and transmitting module; 225. a wireless network module; 226. an indicator light.

Detailed Description

In order that the manner in which the above recited objects, features and advantages of the present utility model are obtained will become more readily apparent, a more particular description of the utility model briefly described above will be rendered by reference to the appended drawings. It will be apparent that the described embodiments are some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Example 1

Referring to fig. 1, fig. 1 shows that this embodiment provides a crawler-type industrial robot, which is a transfer robot, and includes: a movable base 10, the lower end of which is provided with a rotating wheel 11 and a crawler belt 12 sleeved on the rotating wheel 11, and the upper end of which is provided with a connecting seat 13; the upper end of the connecting seat 13 is provided with a bearing frame 14, a signal tower 20 and a rotating base 16; the bearing rack 14 is provided with a bearing disc 15 for bearing articles; wherein, a signal circuit for receiving and processing control signals is arranged in the signal tower 20; the rotary base 16 upper end is equipped with the switching cloud platform 17, the switching cloud platform 17 is connected with arm 18, the end of arm 18 is equipped with the manipulator 19 that is used for carrying.

In this embodiment, the crawler belt 12 on the rotating wheel 11 is used to perform tasks in complex environments. The robot adopting the crawler belt structure is generally suitable for the condition of uneven surfaces, can be better suitable for various environments, and has stronger obstacle crossing capability. For example, a crawler belt structure is often used for a cleaning robot in industry, a exploration robot in mine, and a harvesting robot in agriculture.

It should be noted that, since the transfer robot is generally required to carry a heavy object, the robot adopting the track structure has a larger carrying capacity than the general robot, and can carry more goods, and the transfer robot is required to have a good gripping capacity at the same time, so as to safely transfer the goods. Since the track structure can run on uneven ground, this means that it can better grip or push the goods for the transfer robot. The carrying robot adopting the crawler belt structure can adapt to various complex terrains and environments, such as irregular ground, excessively inclined slopes and the like, and is more flexible and efficient in carrying scenes. The repeated tasks are completed in uninterrupted operation, so that the method is more efficient than human hands. The transfer robot adopting the crawler belt structure is stable in the running process, reduces the risk of goods damage and improves the safety of transfer operation. In traditional transport operation, need a large amount of manpower and material resources input, and adopt transfer robot can realize automatic transport, avoided artificial maloperation, reduced the running cost. In addition, the transfer robot adopting the crawler belt structure does not need a particularly flat road surface, and the facility construction cost is reduced.

Example 2

Referring to fig. 2, the present embodiment provides a crawler-type industrial robot, wherein the industrial robot is a transfer robot, and the robot comprises: the lower end of the movable base 10 is provided with a rotating wheel 11 and a crawler belt 12 sleeved on the rotating wheel 11, and the upper end of the movable base is provided with a connecting seat 13; the upper end of the connecting seat 13 is provided with a bearing frame 14, a signal tower 20 and a rotating base 16; the bearing rack 14 is provided with a bearing disc 15 for bearing articles; wherein, a signal circuit for receiving and processing control signals is arranged in the signal tower 20; the rotary base 16 upper end is equipped with the switching cloud platform 17, the switching cloud platform 17 is connected with arm 18, the end of arm 18 is equipped with the manipulator 19 that is used for carrying. The connecting seat 13 is also provided with a connecting rod 21, and the connecting rod 21 is provided with a first camera 22.

In this embodiment, the video signal of the first camera 22 may be wirelessly transmitted to a remote location through the first camera 22 and the signal tower 20, so that the robot may be conveniently controlled at the remote location, the mechanical arm 18 may be moved by the power device disposed on the transfer head 17 through the transfer head 17, and the whole transfer head 17 and the mechanical arm 18 may be rotated by the rotating base 16, so as to carry the targets at different positions.

As a preferred embodiment, the connecting rod 21 is a telescopic connecting rod 21, the first camera 22 can move in a vertical direction through the telescopic connecting rod 21, for example, images can be obtained through the first camera 22 in real time when moving, so as to control the robot, and the robot can move vertically through the telescopic function of the connecting rod 21, so that the robot is prevented from being blocked; in addition, the first camera 22 may also act as a vision sensor providing a vision-based positioning image.

As a preferred embodiment, referring to fig. 3, the manipulator 19 includes a jaw seat 191 and a jaw member 192, wherein the jaw seat 191 is connected to an end of the manipulator arm 18; the claw member 192 is movably connected to the claw seat 191; the jaw seat 191 is further provided with a second camera 23, and the state of the jaw 192 can be checked in real time by the second camera 23, and the second camera can move along with the movement of the manipulator 19, so that the whole process of carrying the article can be monitored.

Example 3

Referring to fig. 1 to 4, a crawler-type industrial robot, which is a transfer robot, includes: a movable base 10, the lower end of which is provided with a rotating wheel 11 and a crawler belt 12 sleeved on the rotating wheel 11, and the upper end of which is provided with a connecting seat 13; the upper end of the connecting seat 13 is provided with a bearing frame 14, a signal tower 20 and a rotating base 16; the bearing rack 14 is provided with a bearing disc 15 for bearing articles; wherein, a signal circuit for receiving and processing control signals is arranged in the signal tower 20; the rotary base 16 upper end is equipped with the switching cloud platform 17, the switching cloud platform 17 is connected with arm 18, the end of arm 18 is equipped with the manipulator 19 that is used for carrying. The signal circuit comprises a positioning unit 202 which comprises a main control board 222, wherein the main control board 222 is electrically connected to a power supply module 223, an interface 221, a Beidou positioning transmission module 224 and a wireless network module 225; the Beidou positioning transmission module 224 and the wireless network module 225 are respectively connected with antennas.

Through the Beidou positioning transmission module 224 and the wireless network module 225, the robot can sense the surrounding environment by using the positioning and navigation technology, so that autonomous movement and control are realized, no human intervention is required, and the autonomy of the robot is improved; by combining the positioning and navigation technology, the robot can realize functions of autonomous path planning, obstacle avoidance, repeated area avoidance and the like, so that the intelligent level of the robot is improved, the robot has higher application value, and can replace human to finish tasks in tedious and repeated work, thereby improving the work efficiency and productivity, reducing the work load of human, and having wide application prospect.

As a preferred embodiment, the signal circuit further comprises a GSM unit 201 comprising a GSM-R module 212 and a GSM motherboard 211 electrically connected; wherein, the GSM main board 211 is electrically connected to the main control board 222 through the interface 221; the GSM-R module 212 is coupled to an antenna.

It should be noted that GSM-R (Global System for Mobile Communications-raiway) is an international wireless communication standard for Railway communication and application, and its frequency band is uplink 885-889MHz, and downlink 930-934MHz.

As a preferred embodiment, referring to fig. 5, the signal circuit further includes a SLAM module 203 and a corresponding sensor 204; wherein the sensor 204 is electrically connected to the SLAM module 203; the SLAM module 203 is electrically connected to the main control board 222 through the interface 221. The wireless network module 225 may be a 4G module, a 5G module, or other wireless modules, such as a ZIGBEE module, and performs autonomous movement by combining a sensor and a camera with a positioning and navigation technology, so as to record the information of the position and the surrounding environment reached by the robot, implement a real environment map, and provide basic data for subsequent task execution and path planning. The positioning precision of the robot is improved by improving the navigation precision, speed and adaptability of the robot through the SLAM module 203: the positioning technology is used, so that the robot can more accurately determine the position and the direction of the robot, deviation of the robot in the motion process is effectively avoided, and the stability and the reliability of the robot are ensured.

It should be noted that, SLAM (Simultaneous Localization and Mapping) technology refers to an advanced technology of sensing an environment by a robot itself and realizing autonomous positioning and map construction at the same time. When using SLAM technology, a robot may acquire information of surrounding environment, including its own position, map information, obstacle position, etc., using various sensors (e.g., a laser radar, a vision sensor, an inertial sensor, etc.), and use the information to complete sensing of the environment.

As a preferred embodiment, the main control board 222 is further electrically connected to an indicator lamp 226, and a window (not shown) for emitting light through the indicator lamp 226 is provided on the signal tower 20.

The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

While preferred embodiments of the present utility model have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the utility model.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.

The above has described in detail a crawler-type industrial robot provided by the present utility model, and specific examples are applied herein to illustrate the principles and embodiments of the present utility model, and the above examples are only used to help understand the method and core ideas of the present utility model; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present utility model, the present description should not be construed as limiting the present utility model in view of the above.

Claims (8)

1. A tracked industrial robot, the industrial robot being a transfer robot comprising: the movable base is provided with a rotating wheel at the lower end and a crawler belt sleeved on the rotating wheel, and a connecting seat at the upper end;

the upper end of the connecting seat is provided with a bearing frame, a signal tower and a rotating base; the bearing frame is provided with a bearing disc for bearing articles; wherein, a signal circuit for receiving and processing control signals is arranged in the signal tower;

the rotary base upper end is equipped with the switching cloud platform, the switching cloud platform is connected with the arm, the end of arm is equipped with the manipulator that is used for the transport.

2. The tracked industrial robot of claim 1, wherein the connecting base is further provided with a connecting rod, and the connecting rod is provided with a first camera.

3. The tracked industrial robot of claim 2, wherein the connecting rod is a telescoping connecting rod.

4. The tracked industrial robot of claim 1, wherein the manipulator comprises a jaw seat and a jaw member, wherein the jaw seat is connected to a distal end of the robotic arm; the claw piece is movably connected to the claw seat;

and the claw seat is also provided with a second camera.

5. The tracked industrial robot of claim 1, wherein the signal circuit comprises a positioning unit comprising a main control board electrically connected to a power module, an interface, a beidou positioning transmission module and a wireless network module;

the Beidou positioning transmission module and the wireless network module are respectively connected with an antenna.

6. The tracked industrial robot of claim 5, wherein the signal circuit further comprises a GSM unit comprising a GSM-R module and a GSM motherboard electrically connected; the GSM main board is electrically connected with the main control board through the interface; the GSM-R module is connected with an antenna.

7. The tracked industrial robot of claim 5, wherein the main control board is further electrically connected with an indicator light, and the signal tower is provided with a window for emitting light through the indicator light.

8. The tracked industrial robot of claim 5, wherein the signal circuit further comprises a SLAM module and a corresponding sensor; wherein the sensor is electrically connected to the SLAM module; the SLAM module is electrically connected to the main control board through the interface.