CN214451448U

CN214451448U - Material transportation robot

Info

Publication number: CN214451448U
Application number: CN202120172420.3U
Authority: CN
Inventors: 昝学彦; 李飞军; 李家钧; 邓瑶; 蒋干胜; 徐波
Original assignee: Zhuhai Makerwit Technology Co ltd
Current assignee: Zhuhai Makerwit Technology Co ltd
Priority date: 2021-01-21
Filing date: 2021-01-21
Publication date: 2021-10-22
Anticipated expiration: 2031-01-21

Abstract

The utility model provides a material transport robot, which comprises a machine body, a walking device, a bearing device, a rotating device and an angular motion detection unit, wherein the walking device is rotatably arranged at the bottom of the machine body, and the bearing device is arranged on the machine body; the rotating device comprises a first driving wheel, a second driving wheel, a third driving wheel, a rotation detection unit and a first driving unit; the first driving wheel and the third driving wheel are both rotatably arranged on the walking device, the second driving wheel is fixedly arranged on the machine body, and the first driving wheel, the second driving wheel and the third driving wheel are sequentially in transmission fit; the first driving unit and the rotation detection unit are both fixed on the walking device, and the first driving unit is used for driving the first driving wheel. The control method includes acquiring rotation data on the third transmission wheel from the rotation detection unit; and sending a first control signal to the first driving unit according to the rotation data. The utility model discloses the realization is handled the rectifying of organism.

Description

Material transportation robot

Technical Field

The utility model relates to a commodity circulation transportation equipment technical field, concretely relates to material transport robot.

Background

The existing material transportation robot comprises a machine body, a bearing device and a walking device, wherein the bearing device is arranged on the upper portion of the machine body, the walking device is arranged at the bottom of the machine body, and the walking device comprises a pair of driving wheels which are oppositely arranged and driven independently. Because the load-bearing goods are heavy, in order to keep the stability of the machine body, the material transportation robot is generally fixed when turning, and the traveling device turns to realize the transverse movement.

The existing material transportation robot has the problem that under the action of gravity or the transmission error of a transmission device, a machine body can generate lateral deviation relative to a walking device.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a material transportation robot with organism function of rectifying.

The utility model provides a material transportation robot, which comprises a machine body, a walking device and a bearing device, wherein the walking device is rotatably arranged at the bottom of the machine body, and the bearing device is arranged on the machine body; the material transportation robot also comprises a rotating device; the rotating device comprises a first driving wheel, a second driving wheel, a third driving wheel, a rotation detection unit and a first driving unit; the first driving wheel and the third driving wheel are both rotatably arranged on the walking device, the second driving wheel is fixedly arranged on the machine body, and the first driving wheel, the second driving wheel and the third driving wheel are sequentially in transmission fit; the first driving unit and the rotation detection unit are fixed on the traveling device, the first driving unit is used for driving the first transmission wheel, and the rotation detection unit is used for detecting the third transmission wheel; when the first driving unit drives the first driving wheel, the machine body and the walking device rotate relatively; the material transportation robot further comprises an angular motion detection unit fixedly arranged on the machine body.

According to the scheme, when the material transportation robot needs to turn and keeps the machine body still, the traveling device rotates and the second driving wheel and the third driving wheel transmit, at the moment, the rotation detection unit of the encoder acquires the angular displacement data of the third driving wheel, the system acquires the angular displacement data and sends a first control signal to the first driving unit, the first driving unit starts, the first driving wheel transmits to the second driving wheel, and therefore the machine body and the traveling device rotate relatively at a fixed and stable angular speed. And after the walking device finishes steering, if the machine body still generates deviation, a deflection signal can be obtained according to the angular motion detection unit of the gyroscope, and the system sends a second control signal to the first driving unit according to the deflection signal so as to realize deviation rectification processing on the machine body.

The further proposal is that the traveling device is a differential driving device; the differential driving device comprises a base plate, a second driving unit and a driving wheel; two driving wheels are oppositely arranged below the substrate, and each driving wheel is driven by one second driving unit.

Therefore, the differential driving device is selected as the traveling device, and the full-angle steering of the material transportation robot can be effectively realized.

The further scheme is that the first driving unit and the rotation detection unit are arranged below the base plate, the first transmission wheel and the second transmission wheel are arranged above the base plate, an output shaft of the first driving unit penetrates through the base plate to be connected with the first transmission wheel, and an input shaft of the rotation detection unit penetrates through the base plate to be connected with the third transmission wheel.

It can be seen from above that because second drive unit and drive wheel have certain height, the below of base plate has usable space, and first drive unit then sets up the space in the base plate below with rotating the detecting element, reduces the influence to the design that bears device above the organism, avoids the organism volume grow. In addition, the arrangement enables the first transmission wheel, the second transmission wheel and the third transmission wheel to be located in independent spaces above the base plate and below the bottom plate of the machine body, and the sealing performance of the positions of key transmission parts can be guaranteed.

The walking device further comprises a buffer mechanism arranged between the substrate and the second driving unit, wherein the buffer mechanism comprises a hinge seat, a rotary swing frame and a buffer piece; the hinged base is fixedly connected with the base plate, the rotary swing frame and the hinged base are rotatably connected to the first axle center, the first extending end of the buffer piece and the hinged base are rotatably connected to the second axle center, and the second extending end of the buffer piece and the rotary swing frame are rotatably connected to the third axle center; the first axis, the second axis and the third axis are arranged in a triangle.

From the above, firstly, the buffer mechanism forms a triangular structure to provide enough supporting force to meet the heavy load requirement of the material transportation robot; in addition, the buffer piece has the telescopic capacity and the bending deformation capacity in the extending direction, can deal with the adverse factors of the walking surface, ensures the stability of transportation and effectively protects goods.

The further scheme is that the first driving wheel, the second driving wheel and the third driving wheel are all gears.

The transmission ratio of the first transmission wheel to the second transmission wheel is equal to the transmission ratio of the third transmission wheel to the second transmission wheel.

Therefore, under the arrangement, when the body is required not to turn when the walking device turns, the theoretical rotating speeds of the first driving wheel and the third driving wheel are equal, so that the rotating speed corresponding to the angular displacement obtained by the rotation detection unit can be directly used as the driving rotating speed of the first driving unit, the system calculation amount is reduced, the first driving unit is started more timely, and the body has better stability when the walking device turns.

The first driving wheel and the third driving wheel are respectively positioned at two opposite sides of the second driving wheel.

As seen from the above, the arrangement that the first driving wheel is connected with the first driving unit and the third driving wheel is connected with the rotation detection unit reasonably fixes the first driving unit and the rotation detection unit at two opposite sides below the base plate does not influence the arrangement of the original differential driving motor.

In another further scheme, the first transmission wheel and the second transmission wheel are in speed reduction transmission.

Therefore, the arrangement can improve the rotation precision of the machine body and improve the deviation rectifying accuracy.

The bearing device comprises a bearing table and a lifting mechanism, wherein the lifting mechanism is arranged between the machine body and the bearing table and is used for driving the bearing table to move up and down.

According to a further scheme, the lifting mechanism comprises a screw rod assembly and a lifting motor, and the screw rod assembly comprises a lifting screw rod and a screw rod nut; lifting motor and plummer fixed connection, the lift lead screw rotationally is connected with the plummer, and screw-nut sets up on the organism, lift lead screw and screw-nut cooperation, and lifting motor is used for driving the lift lead screw.

Drawings

Fig. 1 is a structural diagram of the material transporting robot of the present invention.

Fig. 2 is the structure diagram of the material transporting robot embodiment of the utility model hiding the shell and the bearing platform.

Fig. 3 is an exploded view of the partial structure of the material transfer robot of the present invention.

Fig. 4 is a structural diagram of a walking device in the embodiment of the material transportation robot of the present invention.

Fig. 5 is a bottom view of the material transfer robot according to the embodiment of the present invention.

Fig. 6 is a top view of the walking device in the embodiment of the material transporting robot of the present invention.

Detailed Description

Referring to fig. 1 to 3, the utility model provides a material transportation robot is a differential drive's material transportation robot with jacking function, and material transportation robot mainly includes organism 1, differential drive device 2, bears device 3, power 4, rotating device 5 and universal wheelset 8, and organism 1 has bottom plate 11, and differential drive device 2, rotating device 5 and universal wheelset 8 all set up in bottom plate 11 below, and bear device 3 and power 4 then set up in bottom plate 11 top. The universal wheel set 8 comprises four universal wheels distributed at four corners of the bottom of the machine body 1, and the universal wheel set 8 plays a supporting role. In addition, the machine body 1 further has a housing 109 covering the surface side of the material transfer robot, the material transfer robot further includes an angular motion detection unit 62 fixedly disposed on the bottom plate 11, and the angular motion detection unit 62 is a gyroscope.

Referring to fig. 1 and 2, the carrier 3 includes a carrier table, a chain drive assembly, and a lifting mechanism. The carrier mainly includes connecting seats 36, an outer frame 37, a cross beam 38 and a platform body 39, the outer frame 37 is a square frame, the connecting seats 36 extend into a long shape, the long sides of the two connecting seats 36 are fixed at the inner side of the outer frame 37, and the two connecting seats are located at two opposite sides of the outer frame 37, so that the two connecting seats 36 are tightly attached to the edge of the outer frame 37 to avoid obstructing the use of the space at the inner periphery of the outer frame 37. Two cross members 38 span between the front sides of the two connecting blocks 36, and a platform body 39 is fixed to the two cross members 36. As can be seen from fig. 2, even if the connecting seats 36 and the cross beams 38 are provided in the outer frame 37, a large use space 300 can be formed between the two connecting seats 36 and below the two cross beams 38, and the battery 4 having a large volume is provided in the use space 300.

Referring to fig. 2, the chain drive assembly basically includes a drive sprocket 321, four driven sprockets 322, a tension sprocket and a drive chain 33. The lifting mechanism comprises a screw rod assembly and a lifting motor 31, and the screw rod assembly comprises a lifting screw rod 34 and a screw rod nut 35. The extension both ends of two connecting seats 36 all are provided with one and rotate connection position 360, rotate connection position 360 and be along the installation through-hole that vertically runs through, and four rotate connection position 360 and be roughly rectangular array and arrange, and four lift lead screws 34 pass through the bearing and rotationally install respectively in above-mentioned four rotation connection positions 360, and the coaxial driven sprocket 322 that is fixed with in top of every lift lead screw 34. Four lead screw nuts 35 are fixedly arranged at four corners of the bottom plate 11, and the lifting lead screw 34 penetrates through the lead screw nuts 35 from top to bottom and is matched with the lead screw nuts.

The lifting motor 31 is fixed on the connecting base 36 and located in the using space 300, the driving sprocket 321 is installed on the output shaft of the lifting motor 31, and the transmission chain 33 is engaged between the driving sprocket 321 and the four driven sprockets 322. After the lifting motor 31 is started, the four lifting screw rods 34 can be driven to synchronously rotate to realize the lifting motion of the bearing device 3, and then the goods can be lifted.

Referring to fig. 3 to 6, the differential drive device 2 serves as a traveling device, and the differential drive device 2 includes a base plate 21, a second drive unit 22, and drive wheels 23; two driving wheels 23 are oppositely arranged below the base plate 21, and each driving wheel 23 is driven by a second driving unit 22 which is a speed reducing motor. The differential drive device 2 further includes a damper mechanism 7 provided between the base plate 21 and the second drive unit 22, the damper mechanism 7 includes a hinge base 71, a swing frame 72, and a damper 73, and the damper 73 is a member provided with a damper spring having restorable expansion and contraction capability in the extending direction. The hinged base 71 is fixedly connected with the base plate 21, the swinging bracket 72 and the hinged base 71 are rotatably connected to the first axis 701, the first extending end of the buffer 73 and the hinged base 71 are rotatably connected to the second axis 702, and the second extending end of the buffer 73 and the swinging bracket 72 are rotatably connected to the third axis 703; the first axis 701, the second axis 702 and the third axis 703 are arranged in a triangle. The buffer mechanism 7 forms a triangular structure to provide enough supporting force to meet the large load requirement of the material transportation robot; in addition, the buffer member 73 has the expansion and contraction capability and the bending deformation capability in the extending direction, can cope with adverse factors of a walking surface, and ensures the stability of transportation.

The rotating device 5 includes a first transmission wheel 51, a second transmission wheel 52, a third transmission wheel 53, a rotation detecting unit 63, and a first driving unit 61. The first transmission wheel 51, the second transmission wheel 52 and the third transmission wheel 53 are all gears, and the transmission ratio of the first transmission wheel 51 to the second transmission wheel 52 is equal to the transmission ratio between the third transmission wheel 53 and the second transmission wheel 52. The first driving unit 61 is a reduction motor, and the rotation detecting unit 63 is an encoder.

The first transmission wheel 51, the second transmission wheel 52 and the third transmission wheel 53 are rotatably arranged above the base plate 21, the first transmission wheel 51 and the third transmission wheel 53 are respectively arranged at two opposite sides of the second transmission wheel 52, the first driving unit 61 and the rotation detection unit 63 are both arranged below the base plate 21, an output shaft of the first driving unit 61 penetrates through the base plate 21 to be connected with the first transmission wheel 51, an input shaft of the rotation detection unit 63 penetrates through the base plate 21 to be connected with the third transmission wheel 53, and the second transmission wheel 52 is fixedly connected with the bottom plate 11 of the machine body 1. The first transmission wheel 51, the second transmission wheel 52 and the third transmission wheel 53 are meshed in sequence, and the first transmission wheel 51 and the second transmission wheel 52 are in speed reduction transmission. When the first driving unit 61 drives the first driving wheel 51, the body 1 and the traveling device 2 rotate relatively.

When the material transportation robot needs to turn to keep the machine body 1 still, the differential driving device 2 rotates and simultaneously the second transmission wheel 52 and the third transmission wheel 53 transmit, at this time, the encoder (rotation detection unit 63) acquires the rotation data of the third transmission wheel 53, the system acquires the rotation data and sends a first control signal to the first driving unit 61 according to the rotation data, the first driving unit 61 is started, the first transmission wheel 51 and the second transmission wheel 52 transmit, and therefore the machine body 1 and the walking device 2 rotate relatively at a fixed and stable angular speed. After the walking device 2 finishes steering, if the machine body 1 still generates deviation, a deflection signal can be obtained according to the gyroscope (the angular motion detection unit 62), the system sends a second control signal to the first driving unit 61 according to the deflection signal, and the first driving unit 61 drives the machine body 1 through the meshing of the first driving wheel 51 and the second driving wheel 52, so that the deviation rectification processing of the machine body 1 is realized.

Finally, it should be emphasized that the above-described embodiments are merely preferred examples of the present invention, and are not intended to limit the invention, as those skilled in the art will appreciate that various changes and modifications may be made, and any and all modifications, equivalents, and improvements made, while remaining within the spirit and principles of the present invention, are intended to be included within the scope of the present invention.

Claims

1. The material transportation robot comprises a machine body, a walking device and a bearing device, wherein the walking device is rotatably arranged at the bottom of the machine body, and the bearing device is arranged on the machine body;

the method is characterized in that:

the material transportation robot further comprises a rotating device;

the rotating device comprises a first driving wheel, a second driving wheel, a third driving wheel, a rotation detection unit and a first driving unit;

the first driving wheel and the third driving wheel are both rotatably arranged on the walking device, the second driving wheel is fixedly arranged on the machine body, and the first driving wheel, the second driving wheel and the third driving wheel are sequentially in transmission fit;

the first driving unit and the rotation detection unit are fixed on the traveling device, the first driving unit is used for driving the first driving wheel, and the rotation detection unit is used for detecting the third driving wheel;

when the first driving unit drives the first driving wheel, the machine body and the walking device rotate relatively;

the material transportation robot further comprises an angular motion detection unit fixedly arranged on the machine body.

2. The material transfer robot of claim 1, wherein:

the traveling device is a differential driving device;

the differential driving device comprises a base plate, a second driving unit and a driving wheel;

the two driving wheels are oppositely arranged below the substrate, and each driving wheel is driven by one second driving unit.

3. The material transfer robot of claim 2, wherein:

the first driving unit and the rotation detection unit are arranged below the base plate, the first transmission wheel and the second transmission wheel are arranged above the base plate, an output shaft of the first driving unit penetrates through the base plate to be connected with the first transmission wheel, and an input shaft of the rotation detection unit penetrates through the base plate to be connected with the third transmission wheel.

4. The material transfer robot of claim 2, wherein:

the walking device further comprises a buffer mechanism arranged between the substrate and the second driving unit, and the buffer mechanism comprises a hinge seat, a rotary swing frame and a buffer piece;

the hinged base is fixedly connected with the base plate, the rotary swing frame and the hinged base are rotatably connected to a first axis, the first extending end of the buffer piece and the hinged base are rotatably connected to a second axis, and the second extending end of the buffer piece and the rotary swing frame are rotatably connected to a third axis;

the first axis, the second axis and the third axis are arranged in a triangular mode.

5. The material transport robot of any one of claims 1 to 4, wherein:

the first driving wheel, the second driving wheel and the third driving wheel are all gears.

6. The material transport robot of any one of claims 1 to 4, wherein:

the transmission ratio of the first transmission wheel to the second transmission wheel is equal to the transmission ratio between the third transmission wheel and the second transmission wheel.

7. The material transport robot of any one of claims 1 to 4, wherein:

8. The material transport robot of any one of claims 1 to 4, wherein:

and the first transmission wheel and the second transmission wheel are in speed reduction transmission.

9. The material transport robot of any one of claims 1 to 4, wherein:

the bearing device comprises a bearing table and a lifting mechanism, the lifting mechanism is arranged between the machine body and the bearing table, and the lifting mechanism is used for driving the bearing table to perform lifting motion.

10. The material transfer robot of claim 9, wherein:

the lifting mechanism comprises a screw rod assembly and a lifting motor, and the screw rod assembly comprises a lifting screw rod and a screw rod nut;

the lifting motor is fixedly connected with the bearing table, the lifting screw rod is rotatably connected with the bearing table, the screw rod nut is arranged on the machine body, the lifting screw rod is matched with the screw rod nut, and the lifting motor is used for driving the lifting screw rod.