CN106828667A - A kind of robot implement porter - Google Patents
A kind of robot implement porter Download PDFInfo
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- CN106828667A CN106828667A CN201710152987.2A CN201710152987A CN106828667A CN 106828667 A CN106828667 A CN 106828667A CN 201710152987 A CN201710152987 A CN 201710152987A CN 106828667 A CN106828667 A CN 106828667A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
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Abstract
本发明属于工业自动化领域，特别涉及一种机器人自走式底盘，包括：底盘(1)、连接机构(15)、前轴转向系、后轴驱动系和液压举升系统；连接机构(15)布置在底盘(1)上，前轴转向系布置于底盘(1)前部，包括转向步进电机‑减速器组(4)、前轴(3)、转向系轴承(5)、前轴伞齿(6)和转向轮系(2)；后轴驱动系布置于底盘(1)后部，包括驱动电机‑减速器组(11)、后轴(12)、驱动系轴承(13)、后轴链轮(9)和驱动轮系(8)；所述液压举升系统包括液压缸(14)、液压油源系统、同步阀和液压管路，液压缸(14)、液压油源系统和同步阀之间通过液压管路连通。
The invention belongs to the field of industrial automation, and particularly relates to a robot self-propelled chassis, comprising: chassis (1), connecting mechanism (15), front axle steering system, rear axle driving system and hydraulic lifting system; connecting mechanism (15) Arranged on the chassis (1), the front axle steering system is arranged at the front of the chassis (1), including steering stepper motor-reducer group (4), front axle (3), steering bearing (5), front axle umbrella teeth (6) and steering wheel train (2); the rear axle drive system is arranged at the rear of the chassis (1), including drive motor-reducer set (11), rear axle (12), drive train bearing (13), rear Shaft sprocket (9) and driving wheel train (8); Described hydraulic lifting system comprises hydraulic cylinder (14), hydraulic oil source system, synchronous valve and hydraulic pipeline, hydraulic cylinder (14), hydraulic oil source system and The synchronous valves are communicated through hydraulic pipelines.
Description
技术领域technical field
本发明属于工业自动化领域，特别涉及一种机器人自走式底盘。The invention belongs to the field of industrial automation, in particular to a robot self-propelled chassis.
背景技术Background technique
目前，我国袋装物资的仓库搬运和装卸方式主要是靠肩扛和小车拉，装卸工人不仅劳动强度大、工作效率低，而且是在粉尘的环境下工作，易危害身心健康。国内外广泛用于袋装物资装卸的搬运机器人设备均固定于流水线上，或布置于移动导轨上，无法进入火车车厢或灵活地移动以对火车车厢内密集堆垛的袋装物资进行快捷抓取和装卸。At present, the warehouse handling and loading and unloading methods of bagged materials in my country are mainly carried by shoulders and pulled by trolleys. The loading and unloading workers are not only labor-intensive and low-efficiency, but also work in a dusty environment, which is easy to endanger physical and mental health. The handling robot equipment widely used for loading and unloading bagged materials at home and abroad is fixed on the assembly line or arranged on the moving guide rail, which cannot enter the train carriage or move flexibly to quickly grab the densely stacked bagged materials in the train carriage and loading and unloading.
综上所述，现有技术中的搬运机器人都不太适用于火车车厢内密集堆放的袋装物资的装卸，无法灵活进入火车车厢对堆积式袋装物资进行无损快捷抓取。To sum up, the handling robots in the prior art are not suitable for the loading and unloading of densely stacked bagged materials in the train carriages, and cannot flexibly enter the train carriages to quickly and non-destructively grab the piled bagged materials.
因此，迫切需要一种能满足火车车厢内堆积式袋装物资快速而无损装卸和堆垛的搬运机器人自走式底盘。Therefore, there is an urgent need for a self-propelled chassis of a handling robot that can meet the fast and non-destructive loading and unloading and stacking of stacked bagged materials in the train compartment.
搬运机器人工作时，如果底盘不固定，由于机器人机械臂伸长抓取物体时产生巨大的转动惯量，可能会造成机器人移动甚至翻车，这在机器人工作中是不允许的，故必须配备一套将机器人固支在地面的机构，以保证机器人工作时的安全性。液压系统因其便捷、结构简单、单位作用力大(相比电动)的优点，被作为本发明中机器人自走式底盘的举升系统。When the handling robot is working, if the chassis is not fixed, due to the huge moment of inertia generated when the robotic arm of the robot is extended to grab objects, it may cause the robot to move or even roll over. This is not allowed in the robot work, so it must be equipped with a set of The robot is fixed on the ground mechanism to ensure the safety of the robot when it is working. The hydraulic system is used as the lifting system of the self-propelled chassis of the robot in the present invention because of its advantages of convenience, simple structure, and large unit force (compared to electric).
发明内容Contents of the invention
本发明的目的在于提供一种解决搬运机器人在火车车厢内灵活移动及机器人工作时的稳定性问题，提高装卸效率，实现农资装卸的机械化和自动化的机器人自走式底盘。The purpose of the present invention is to provide a robot self-propelled chassis that solves the problem of flexible movement of the handling robot in the train compartment and the stability of the robot when it is working, improves the loading and unloading efficiency, and realizes the mechanization and automation of agricultural materials loading and unloading.
本发明的目的是通过以下技术方案实现的：The purpose of the present invention is achieved through the following technical solutions:
一种机器人自走式底盘，其包括：底盘1、连接机构15、前轴转向系、后轴驱动系和液压举升系统；其中，A robot self-propelled chassis, which includes: chassis 1, connecting mechanism 15, front axle steering system, rear axle drive system and hydraulic lifting system; wherein,
连接机构15布置在底盘1上，搬运机器人通过连接机构15与底盘1连接；The connection mechanism 15 is arranged on the chassis 1, and the handling robot is connected to the chassis 1 through the connection mechanism 15;
前轴转向系布置于底盘1前部，包括转向步进电机-减速器组4、前轴3、转向系轴承5、前轴伞齿6和转向轮系2；The front axle steering system is arranged at the front of the chassis 1, including the steering stepper motor-reducer group 4, the front axle 3, the steering system bearing 5, the front axle bevel gear 6 and the steering wheel train 2;
其中，转向步进电机-减速器组4固定在底盘1上，前轴3通过花键连接在转向步进电机-减速器组4的输出端，前轴3的两外端各布置两个转向系轴承5，前轴3每端的两个转向系轴承5之间装有与底盘1垂直布置的前轴伞齿6；Wherein, the steering stepper motor-reducer group 4 is fixed on the chassis 1, the front axle 3 is connected to the output end of the steering stepper motor-reducer group 4 through a spline, and two steering wheels are respectively arranged at the two outer ends of the front axle 3. A series bearing 5, between the two steering system bearings 5 at each end of the front axle 3 is equipped with a front axle bevel gear 6 vertically arranged with the chassis 1;
两个转向轮系2分别设置在底盘1前部下端面两端，与两个前轴伞齿6相对应设置；The two steering wheel trains 2 are respectively arranged at both ends of the lower end surface of the front part of the chassis 1, corresponding to the two bevel teeth 6 of the front axle;
转向轮系2包括转向系螺母21、转向系螺杆22、转向系上顶板23、转向轮24、转向轴25、转向系吊耳26和转向系伞齿27；The steering wheel train 2 includes a steering train nut 21, a steering train screw rod 22, a steering train top plate 23, a steering wheel 24, a steering shaft 25, a steering train lug 26 and a steering bevel gear 27;
其中，转向系上顶板23固定在底盘1下端面，转向系上顶板23和底盘1开有上下贯通的通孔，转向轴承的外缘与转向系上顶板23的所述通孔间隙配合固接，转向系螺杆22的下端与转向系吊耳26固接，转向系螺杆22的上端穿过转向系上顶板23和底盘1的通孔，并与转向系上顶板23通孔内的转向轴承的内缘间隙配合固接；所述转向系吊耳26为“U”形吊耳，转向系螺母21从转向系螺杆22的上端旋入，并将转向系螺杆22在垂直方向锁定，转向系螺杆22上端设置有与底盘1平行布置的转向系伞齿27，转向轮24通过转向轴25安装在转向系吊耳26上；Wherein, the upper top plate 23 of the steering system is fixed on the lower end surface of the chassis 1, and the upper top plate 23 of the steering system and the chassis 1 have a through hole through the upper and lower sides, and the outer edge of the steering bearing is fixedly connected with the through hole of the upper top plate 23 of the steering system. The lower end of the steering system screw rod 22 is affixed to the steering system lug 26, and the upper end of the steering system screw rod 22 passes through the through hole of the upper top plate 23 of the steering system and the through hole of the chassis 1, and is connected with the steering bearing in the through hole of the upper top plate 23 of the steering system. The inner edge clearance fits and fixes; the steering lug 26 is a "U"-shaped lug, the steering nut 21 is screwed in from the upper end of the steering screw 22, and the steering screw 22 is locked in the vertical direction, and the steering screw The upper end of 22 is provided with a steering bevel gear 27 arranged parallel to the chassis 1, and the steering wheel 24 is installed on the steering lug 26 through the steering shaft 25;
前轴伞齿6与转向系伞齿27啮合；The bevel gear 6 of the front axle meshes with the bevel gear 27 of the steering system;
后轴驱动系布置于底盘1后部，后轴驱动系包括驱动电机-减速器组11、后轴12、驱动系轴承13、后轴链轮9和驱动轮系8；The rear axle drive system is arranged at the rear of the chassis 1, and the rear axle drive system includes a drive motor-reducer group 11, a rear axle 12, a drive train bearing 13, a rear axle sprocket 9 and a drive train 8;
其中，驱动电机-减速器组11固定在底盘1上，后轴12通过花键固接在驱动电机-减速器组11的输出端，后轴12两外端各布置两个驱动系轴承13，后轴12的每端的两个驱动系轴承13之间装有后轴链轮9；Wherein, the driving motor-reducer group 11 is fixed on the chassis 1, the rear shaft 12 is fixedly connected to the output end of the driving motor-reducer group 11 through a spline, and two driving system bearings 13 are respectively arranged at the two outer ends of the rear shaft 12, A rear axle sprocket 9 is housed between the two drive train bearings 13 at each end of the rear axle 12;
两个驱动轮系8分别设置在底盘1后部下端面的两端，与两个后轴链轮9相对应设置；Two driving wheel trains 8 are respectively arranged on the two ends of the lower end surface of the rear part of the chassis 1, corresponding to the two rear axle sprockets 9;
驱动轮系8包括驱动系上顶板85、驱动系耳板84、驱动系链轮83、驱动轴82及驱动轮81；The drive train 8 comprises a drive train top plate 85, a drive train lug 84, a drive train sprocket 83, a drive shaft 82 and a drive wheel 81;
驱动系上顶板85固接在底盘1下端面，左右两个驱动系耳板84垂直固接在驱动系上顶板85上，驱动轮81通过驱动轴82转动连接在左右两个驱动系耳板84上，驱动轴82的一侧布置有驱动系链轮83，驱动系链轮83与后轴链轮9之间通过链条连接；The upper top plate 85 of the driving system is fixedly connected to the lower end surface of the chassis 1, and the two left and right driving system lugs 84 are vertically fixed on the upper top plate 85 of the driving system. On one side of the drive shaft 82, a driving sprocket 83 is arranged, and the driving sprocket 83 and the rear axle sprocket 9 are connected by a chain;
所述液压举升系统包括液压缸14、液压油源系统、同步阀和液压管路，四个液压缸14分别安装在底盘1的四角，液压油源系统、同步阀和液压管路均布置在底盘1上方，液压缸14、液压油源系统和同步阀之间通过液压管路连通。The hydraulic lifting system includes a hydraulic cylinder 14, a hydraulic oil source system, a synchronous valve and a hydraulic pipeline, and the four hydraulic cylinders 14 are respectively installed on the four corners of the chassis 1, and the hydraulic oil source system, the synchronous valve and the hydraulic pipeline are all arranged on the Above the chassis 1, the hydraulic cylinder 14, the hydraulic oil source system and the synchronous valve are communicated through hydraulic pipelines.
转向系轴承5下设置转向系垫块7，转向系垫块7安装在底盘1上。A steering pad 7 is arranged under the steering bearing 5, and the steering pad 7 is installed on the chassis 1.
驱动系轴承13下设置驱动系垫块10，驱动系垫块10固接在底盘1上。The drive train pad 10 is arranged under the drive train bearing 13 , and the drive train pad 10 is fixedly connected to the chassis 1 .
转向轴25两端安装有外卡。Steering shaft 25 two ends are equipped with outer card.
驱动轮81和转向轮24为直径为80mm的聚氨酯叉车轮。The driving wheel 81 and the steering wheel 24 are polyurethane fork wheels with a diameter of 80mm.
本发明的有益效果在于：The beneficial effects of the present invention are:
本底盘选用直径为80mm的聚氨酯叉车轮，并将前、后轴置于底盘上方以降低离地高度，超低地隙增强了机器人底盘的稳定性，防止机器人在移动或工作过程中翻车。The chassis uses polyurethane fork wheels with a diameter of 80mm, and the front and rear axles are placed above the chassis to reduce the height from the ground. The ultra-low ground clearance enhances the stability of the robot chassis and prevents the robot from overturning during movement or work.
机器人底盘四角上装有四个液压缸，机器人工作时，液压举升系统将车轮支离地面，以保证机器人工作的安全稳定性。Four hydraulic cylinders are installed on the four corners of the robot chassis. When the robot is working, the hydraulic lifting system lifts the wheels off the ground to ensure the safety and stability of the robot.
附图说明Description of drawings
图1为本发明机器人自走式底盘的结构示意图；Fig. 1 is the structural representation of robot self-propelled chassis of the present invention;
图2为本发明机器人自走式底盘的转向轮系示意图；Fig. 2 is the steering wheel train schematic diagram of robot self-propelled chassis of the present invention;
图3为本发明器人自走式底盘的驱动轮系示意图。Fig. 3 is a schematic diagram of the drive train of the self-propelled chassis of the robot of the present invention.
附图标记：Reference signs:
1底盘 2转向轮系 3前轴1 Chassis 2 Steering train 3 Front axle
4转向步进电机-减速器组 5转向系轴承 6前轴伞齿4 Steering stepper motor-reducer group 5 Steering system bearing 6 Front axle bevel gear
7转向系垫块 8驱动轮系 9后轴链轮7 Steering block 8 Drive train 9 Rear axle sprocket
10驱动系垫块 11驱动电机-减速器组 12后轴10 Drive train block 11 Drive motor-reducer group 12 Rear axle
13驱动系轴承 14液压缸 15连接机构13 Drive train bearing 14 Hydraulic cylinder 15 Connection mechanism
21转向系螺母 22转向系螺杆 23转向系上顶板21 Steering system nut 22 Steering system screw rod 23 Steering system upper top plate
24转向轮 25转向轴 26转向系吊耳24 Steering wheel 25 Steering shaft 26 Steering lug
27转向系伞齿 81驱动轮 82驱动轴27 Steering Bevel Gear 81 Driving Wheel 82 Driving Shaft
83驱动系链轮 84驱动系耳板 85驱动系上顶板83 drive train sprocket 84 drive train ear plate 85 drive train top plate
具体实施方式detailed description
下面结合附图和实施例，对本发明的具体实施方式作进一步详细描述。The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
机器人自走式底盘，与机器人配合使用。本发明实施例中，机器人自走式底盘与用于装卸和堆垛袋装物资的火车车厢内搬运机器人配合使用。Robotic self-propelled chassis, used in conjunction with the robot. In the embodiment of the present invention, the self-propelled chassis of the robot is used in conjunction with the handling robot in the train compartment for loading, unloading and stacking bagged materials.
如图1所示，机器人自走式底盘，包括：底盘1、连接机构15、前轴转向系、后轴驱动系和液压举升系统。As shown in Figure 1, the self-propelled chassis of the robot includes: a chassis 1, a connecting mechanism 15, a front axle steering system, a rear axle drive system and a hydraulic lifting system.
连接机构15布置在底盘1上，搬运机器人通过连接机构15与底盘1连接。The connection mechanism 15 is arranged on the chassis 1 , and the handling robot is connected to the chassis 1 through the connection mechanism 15 .
前轴转向系布置于底盘1前部，前轴转向系包括转向步进电机-减速器组4、前轴3、转向系轴承5、前轴伞齿6、转向系垫块7和转向轮系2。The front axle steering system is arranged at the front of the chassis 1, and the front axle steering system includes a steering stepper motor-reducer group 4, a front axle 3, a steering bearing 5, a front axle bevel gear 6, a steering pad 7 and a steering wheel 2.
其中，转向步进电机-减速器组4固定在底盘1上，前轴3通过花键连接在转向步进电机-减速器组4的输出端。前轴3的两外端各布置两个转向系轴承5，转向系轴承5下设置转向系垫块7，转向系垫块7安装在底盘1上。前轴3每端的两个转向系轴承5之间装有与底盘1垂直布置的前轴伞齿6。Wherein, the steering stepper motor-reducer group 4 is fixed on the chassis 1, and the front axle 3 is connected to the output end of the steering stepper motor-reducer group 4 by splines. Two steering bearings 5 are respectively arranged on the two outer ends of the front axle 3 , and a steering pad 7 is arranged under the steering bearing 5 , and the steering pad 7 is installed on the chassis 1 . Between the two steering bearings 5 at each end of the front axle 3 there is a front axle bevel gear 6 arranged vertically with the chassis 1 .
两个转向轮系2分别设置在底盘1前部下端面两端，与两个前轴伞齿6相对应设置。Two steering wheel trains 2 are respectively arranged on the two ends of the lower end surface of the front part of the chassis 1, corresponding to the two bevel teeth 6 of the front axle.
如图2所示，转向轮系2包括转向系螺母21、转向系螺杆22、转向系上顶板23、转向轮24、转向轴25、转向系吊耳26和转向系伞齿27。As shown in FIG. 2 , the steering wheel train 2 includes a steering train nut 21 , a steering train screw rod 22 , a steering train top plate 23 , a steering wheel 24 , a steering shaft 25 , a steering train lug 26 and a steering bevel gear 27 .
其中，转向系上顶板23固定在底盘1下端面，转向系上顶板23和底盘1开有上下贯通的通孔。转向轴承(图中未示出)的外缘与转向系上顶板23的所述通孔间隙配合固接，转向系螺杆22的下端与转向系吊耳26固接，转向系螺杆22的上端穿过转向系上顶板23和底盘1的通孔，并与转向系上顶板23通孔内的转向轴承的内缘间隙配合固接。所述转向系吊耳26为“U”形吊耳。转向系螺母21从转向系螺杆22的上端旋入，并将转向系螺杆22在垂直方向锁定。转向系螺杆22上端设置有与底盘1平行布置的转向系伞齿27。转向轮24通过转向轴25安装在转向系吊耳26上，且转向轴25两端安装有外卡，防止转向轴25的轴向移动。Wherein, the upper top plate 23 of the steering system is fixed on the lower end surface of the chassis 1, and the upper top plate 23 of the steering system and the chassis 1 have a through hole through which the upper and lower sides pass. The outer edge of the steering bearing (not shown in the figure) is fixedly connected with the said through hole of the upper top plate 23 of the steering system, the lower end of the steering system screw rod 22 is fixedly connected with the steering system lifting lug 26, and the upper end of the steering system screw rod 22 passes through Pass through the through hole of the upper top plate 23 and the chassis 1 of the steering system, and cooperate with the inner edge clearance of the steering bearing in the upper top plate 23 through hole of the steering system to be fixedly connected. The steering lug 26 is a "U" shaped lug. The steering nut 21 is screwed in from the upper end of the steering screw rod 22 and locks the steering screw rod 22 in the vertical direction. The upper end of the steering screw 22 is provided with a steering bevel 27 parallel to the chassis 1 . The steering wheel 24 is installed on the steering system lug 26 by the steering shaft 25, and the two ends of the steering shaft 25 are provided with external clips to prevent the axial movement of the steering shaft 25.
前轴伞齿6与转向系伞齿27啮合。The bevel gear 6 of the front axle meshes with the bevel gear 27 of the steering system.
如图1所示，后轴驱动系布置于底盘1后部，后轴驱动系包括驱动电机-减速器组11、后轴12、驱动系轴承13、驱动系垫块10、后轴链轮9和驱动轮系8。As shown in Figure 1, the rear axle drive system is arranged at the rear of the chassis 1, and the rear axle drive system includes a drive motor-reducer group 11, a rear axle 12, a drive train bearing 13, a drive train pad 10, and a rear axle sprocket 9 and drive train 8.
其中，驱动电机-减速器组11固定在底盘1上，后轴12通过花键固接在驱动电机-减速器组11的输出端。后轴12两外端各布置两个驱动系轴承13，驱动系轴承13下设置驱动系垫块10，驱动系垫块10固接在底盘1上。后轴12的每端的两个驱动系轴承13之间装有后轴链轮9。Wherein, the driving motor-reducer group 11 is fixed on the chassis 1, and the rear axle 12 is fixedly connected to the output end of the driving motor-reducer group 11 through splines. Two drive train bearings 13 are respectively arranged at the two outer ends of the rear axle 12 , and drive train pads 10 are arranged under the drive train bearings 13 , and the drive train pads 10 are affixed to the chassis 1 . A rear axle sprocket 9 is mounted between two drive train bearings 13 at each end of the rear axle 12 .
两个驱动轮系8分别设置在底盘1后部下端面的两端，与两个后轴链轮9相对应设置。Two driving wheel trains 8 are respectively arranged on the two ends of the lower end surface of the rear part of the chassis 1, corresponding to the two rear axle sprockets 9.
如图3所示，驱动轮系8包括驱动系上顶板85、驱动系耳板84、驱动系链轮83、驱动轴82及驱动轮81。As shown in FIG. 3 , the drive train 8 includes a drive train upper plate 85 , a drive train lug 84 , a drive train sprocket 83 , a drive shaft 82 and a drive wheel 81 .
驱动系上顶板85固接在底盘1下端面，左右两个驱动系耳板84垂直固接在驱动系上顶板85上。驱动轮81通过驱动轴82转动连接在左右两个驱动系耳板84上。驱动轴82的一侧布置有驱动系链轮83，驱动系链轮83与后轴链轮9之间通过链条连接。The upper top plate 85 of the driving system is fixedly connected to the lower end surface of the chassis 1, and the left and right two driving system ear plates 84 are vertically fixed on the upper top plate 85 of the driving system. The drive wheel 81 is rotatably connected to the left and right drive train lugs 84 through the drive shaft 82 . A driving chain wheel 83 is arranged on one side of the driving shaft 82, and the driving chain wheel 83 is connected with the rear axle sprocket 9 by a chain.
优选地，驱动轮81和转向轮24为直径为80mm的聚氨酯叉车轮。Preferably, the driving wheel 81 and the steering wheel 24 are polyurethane fork wheels with a diameter of 80mm.
液压举升系统包括液压缸14、液压油源系统、同步阀和液压管路，四个液压缸14分别安装在底盘1的四角，液压油源系统、同步阀和液压管路均布置在底盘1上方，液压缸14、液压油源系统和同步阀之间通过液压管路连通。高压液压油从液压油源系统出口通过液压管路到达同步阀，再由同步阀到达四个液压缸14的进油口，并从四个液压缸14的回油口经同步阀返回油箱。The hydraulic lifting system includes a hydraulic cylinder 14, a hydraulic oil source system, a synchronous valve and hydraulic pipelines. The four hydraulic cylinders 14 are respectively installed at the four corners of the chassis 1, and the hydraulic oil source system, synchronous valves and hydraulic pipelines are all arranged on the chassis 1. Above, the hydraulic cylinder 14, the hydraulic oil source system and the synchronous valve are communicated through hydraulic pipelines. The high-pressure hydraulic oil reaches the synchronous valve from the outlet of the hydraulic oil source system through the hydraulic pipeline, and then reaches the oil inlets of the four hydraulic cylinders 14 through the synchronous valves, and returns to the oil tank from the oil return ports of the four hydraulic cylinders 14 through the synchronous valves.
本发明的机器人自走式底盘，采用前轴转向，后轴驱动，且前轴3和后轴12置于底盘1的上方以减小离地间隙；机器人工作时，底盘1四周的四个液压缸14的活塞杆垂直向下伸出将底盘1支离地面，很好地解决了搬运机器人在火车车厢内灵活移动及机器人工作时的稳定性问题，提高了装卸的效率，实现农资装卸的机械化和自动化。The self-propelled chassis of the robot of the present invention adopts the steering of the front axle and the drive of the rear axle, and the front axle 3 and the rear axle 12 are placed on the top of the chassis 1 to reduce the ground clearance; The piston rod of the cylinder 14 extends vertically downwards to lift the chassis 1 off the ground, which solves the problem of the flexible movement of the handling robot in the train compartment and the stability of the robot when it is working, improves the efficiency of loading and unloading, and realizes the mechanization of agricultural materials loading and unloading and automation.
本发明中，机器人与底盘1的总重量为3吨，现有技术中若将驱动系、转向系置于底盘下方，采用轮边带电机方案(该方案能大大降低离地间隙)，离地间隙至少为300mm，而本申请中底盘1离地间隙仅为110mm，使得装备有该底盘的机器人能顺利进出火车车厢。In the present invention, the total weight of the robot and chassis 1 is 3 tons. If the driving system and the steering system are placed under the chassis in the prior art, the wheel side belt motor scheme (this scheme can greatly reduce the ground clearance) is adopted, and the ground clearance The clearance is at least 300mm, and the ground clearance of the chassis 1 in the present application is only 110mm, so that the robot equipped with the chassis can smoothly enter and exit the train carriage.
工作过程：work process:
机器人自走式底盘具有前进、后退、左、右转弯、液压缸14升降、转向回正功能。The self-propelled chassis of the robot has the functions of advancing, retreating, turning left and right, lifting and lowering the hydraulic cylinder 14, and turning back to the center.
机器人开始搬运任务时，底盘1四周的四个液压缸14的活塞杆垂直向下伸出将底盘1支离地面。When the robot started carrying tasks, the piston rods of four hydraulic cylinders 14 around the chassis 1 stretched out vertically downwards to lift the chassis 1 off the ground.
当搬运机器人在某定点处的搬运任务结束后，通过控制液压缸14的活塞杆收回，使转向轮24和驱动轮81着地，开启机器人行走功能，并通过前进、后退、左/右转弯控制机器人行走到下一位置。When the handling task of the handling robot at a fixed point is over, the piston rod of the hydraulic cylinder 14 is controlled to retract, so that the steering wheel 24 and the driving wheel 81 touch the ground, and the robot walking function is started, and the robot is controlled by forward, backward, and left/right turns. Walk to the next location.
搬运机器人前进/后退时，控制器发出前进/后退信号给驱动电机-减速器组11，驱动电机正转/反转，经减速器减速后将动力传递到后轴12，再由后轴12上的后轴链轮9将动力传递到驱动轴82一侧的驱动系链轮83以带动驱动轴82上的驱动轮81旋转。When the handling robot moves forward/backward, the controller sends a forward/backward signal to the drive motor-reducer group 11, the drive motor rotates forward/reversely, and the power is transmitted to the rear axle 12 after being decelerated by the reducer, and then the rear axle 12 The rear axle sprocket 9 transmits power to the drive sprocket wheel 83 on one side of the drive shaft 82 to drive the drive wheel 81 on the drive shaft 82 to rotate.
搬运机器人左/右转弯时，控制器发出左/右转信号给转向步进电机-减速器组4，驱动电机正转/反转，经减速器减速后将动力传递到前轴3，再由前轴3上的前轴伞齿6通过与转向系螺杆22上的转向系伞齿27啮合，将动力传递到转向轴25，从而带动转向轮24正反转，实现转向轮的左/右转。When the handling robot turns left/right, the controller sends a left/right turn signal to the steering stepper motor-reducer group 4, the drive motor rotates forward/reversely, and the power is transmitted to the front axle 3 after being decelerated by the reducer, and then the The front axle bevel gear 6 on the front axle 3 meshes with the steering bevel gear 27 on the steering system screw 22 to transmit power to the steering shaft 25, thereby driving the steering wheel 24 to rotate forward and backward, and realize the left/right turning of the steering wheel .
在搬运机器人停止行走后，先通过控制器控制液压缸14的活塞杆支起，将转向轮24和驱动轮81支离地面，此时机器人开始下一工作循环。如此反复，以完成整个火车车厢内的袋装物资搬运。After the transfer robot stops walking, the controller controls the piston rod of the hydraulic cylinder 14 to support, and the steering wheel 24 and the driving wheel 81 are lifted off the ground, and now the robot starts the next working cycle. So repeatedly, to complete the handling of bagged materials in the entire train compartment.
Claims (5)
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| CN109131634A (en) * | 2018-08-14 | 2019-01-04 | 安徽爱依特科技有限公司 | market transportation robot |
| CN109176477A (en) * | 2018-10-30 | 2019-01-11 | 苏州市海神达机械科技有限公司 | A kind of mobile underpan |
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| CN106828667B (en) | 2018-10-23 |
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