CN107297757A - A kind of mobile robot - Google Patents
A kind of mobile robot Download PDFInfo
- Publication number
- CN107297757A CN107297757A CN201710746679.2A CN201710746679A CN107297757A CN 107297757 A CN107297757 A CN 107297757A CN 201710746679 A CN201710746679 A CN 201710746679A CN 107297757 A CN107297757 A CN 107297757A
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- rotary shaft
- base
- robot
- telescopic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
-
- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
-
- 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
- B25J19/02—Sensing devices
-
- 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
- B25J19/06—Safety devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mobile robot, the intelligent direction movement wheel body being fixedly connected including robot body and with robot body, the intelligent direction movement wheel body is fixedly arranged above base, the surface of the base is provided with gim peg, the gim peg is internally connected with rotary shaft, the top of the rotary shaft is provided with electric rotating machine, the both sides of the base are fixed with telescopic rotating shaft, the surface of the telescopic rotating shaft is connected with connecting seat, the lower end of the connecting seat is welded with telescopic arm, the head end of the telescopic rotating shaft is provided with center of gravity inductor, the end of the telescopic arm is fixed with the support palm, the front of the base is provided with barrier inductor, baffle plate is welded with below the rotary shaft, the both sides of the baffle plate are connected with support frame, fixing bolt is equipped with inside and outside support frame as described above, the mobile robot is provided with point of rotation machine and rotary shaft, voluntarily it can sense and turn to according to different environment, so that robot is more intelligent.
Description
Technical field
The present invention relates to robot field, specially a kind of mobile robot.
Background technology
Robot is the automatic installations for performing work.It can both receive mankind commander, and advance volume can be run again
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is assistance or the substitution mankind
The work of work, for example, produce industry, construction industry, or dangerous work.It is senior integral traffic control opinion, mechano-electronic, calculating
Machine, material and bionic product.There is important use in industry, medical science, agricultural, the construction industry even field such as military affairs, but
It is that the common robot of in the market all has a series of defects, such as the existing most locomotive function of robot is single, only has
Standby unidirectional locomotive function, and existing robot swerves the weight unstable, easily falls down and causes to damage, the presence of these problems is all
The use of in the market robot is have impact on, the demand used is can not meet, therefore, a kind of it is proposed that mobile robot.
The content of the invention
It is an object of the invention to provide a kind of mobile robot, to solve to propose existing machine in above-mentioned background technology
The many locomotive functions of the device National People's Congress are single, only possess unidirectional locomotive function, and existing robot swerves the weight unstable, easily falls down
The problem of causing to damage.
To achieve the above object, the present invention provides following technical scheme：A kind of mobile robot, including robot body
The intelligent direction movement wheel body that is fixedly connected with robot body, the intelligent direction movement wheel body is fixedly arranged above
Base, the surface of the base is provided with gim peg, and the gim peg is internally connected with rotary shaft, the top of the rotary shaft
Provided with electric rotating machine, the both sides of the base are fixed with telescopic rotating shaft, and the surface of the telescopic rotating shaft is connected with connecting seat, described
The lower end of connecting seat is welded with telescopic arm, and the head end of the telescopic rotating shaft is provided with center of gravity inductor, and the end of the telescopic arm is consolidated
Surely support slaps, the front of the base, which is provided with below barrier inductor, the rotary shaft, is welded with baffle plate, the baffle plate
Both sides be connected with inside and outside support frame, support frame as described above and be equipped with fixing bolt, the inside connection of the fixing bolt
There is wheel shaft, the center of the wheel shaft is provided with movable pulley.
It is preferred that, the electric rotating machine is electrically connected with the rotary shaft, and rotary shaft is flexibly connected with the gim peg.
It is preferred that, support frame as described above is fixedly connected with the baffle plate, and baffle plate is closely welded with the rotary shaft.
It is preferred that, the barrier inductor is connected with the base, and barrier inductor and the electric rotating machine signal
Connection.
It is preferred that, the telescopic rotating shaft is provided with two, and telescopic rotating shaft and connecting seat intert and be connected.
It is preferred that, the center of gravity inductor is connected with the telescopic arm signal, and the support palm is connected with the telescopic arm
Connect.
Compared with prior art, the beneficial effects of the invention are as follows：The mobile robot is provided with intelligent direction movement wheel,
Intelligent direction movement wheel is provided with electric rotating machine and rotary shaft, and the electric rotating machine is electrically connected with the rotary shaft, and rotation
Axle is flexibly connected with the gim peg, and the existing robot move mode of in the market is more single, it is impossible to voluntarily adjust movement side
Position, so movement get up to have many troubles, and the device is provided with rotary shaft, can voluntarily adjust motion direction by electric rotating machine,
So that the device is more intelligent, support frame as described above is fixedly connected with the baffle plate, and baffle plate is closely welded with the rotary shaft
Connect, the flying dust lattice gear that the baffle plate above movable pulley takes up when can robot be moved, the flying dust splash when preventing from moving makes machine dirty
Device people in itself, so as to eliminate cleaning usually, saves substantial amounts of time and labour, so that operating efficiency is carried
Height, the barrier inductor is connected with the base, and barrier inductor is connected with the electric rotating machine signal, and in the market is existing
Some robots can not voluntarily change motion direction by factors such as environment terrains, such as there is a face wall in front when moving, general
Logical robot will not voluntarily change orientation and move, and the device is provided with barrier inductor, can induce front obstacle, so that
Communicate information to electric rotating machine to rotate axle steer, and then realize that robot voluntarily adjusts movement side according to factors such as landform
The purpose of position, the telescopic rotating shaft is provided with two, and telescopic rotating shaft and connecting seat intert and be connected, the center of gravity inductor with it is described
Telescopic arm signal is connected, and the support palm is connected with the telescopic arm, and common robot is not provided with shatter-resistant safeguard measure, machine
Device people crank run-off the straight and then is fallen down when mobile, it is more likely that robot is damaged or is broken down, the device is set
There is center of gravity inductor, can quickly be sensed when robot swerves the weight unstable run-off the straight, and pass information to telescopic arm,
Telescopic arm is usually collapsed state, and parallel with base, when receiving the signal of center of gravity inductor, quick rotation and elongation make support
The palm touches ground and supports robot, and and then continuing elongation makes state before robot recurrence, and the support palm is quality of rubber materials,
Its frictional force with ground can be increased, prevent ground is smooth from failing to play shatter-resistant effect so that device have it is higher steady
Qualitative and security.
Brief description of the drawings
Fig. 1 is the intelligent direction movement wheel overall structure diagram of the present invention；
Fig. 2 is telescopic support device structural representation of the present invention；
Fig. 3 is structure running structural representation of the present invention.
In figure：1st, intelligent direction movement wheel body, 2, base, 3, gim peg, 4, rotary shaft, 5, electric rotating machine, 6, flexible
Rotating shaft, 7, connecting seat, 701, center of gravity inductor, 702, telescopic arm, 703, the support palm, 8, barrier inductor, 9, baffle plate, 10, solid
Determine bolt, 11, movable pulley, 12, wheel shaft, 13, support frame.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1-3 are referred to, the present invention provides a kind of technical scheme：A kind of mobile robot, including robot body is (not
Show), 1, intelligent direction movement wheel body, 2, base, 3, gim peg, 4, rotary shaft, 5, electric rotating machine, 6, telescopic rotating shaft, 7,
Connecting seat, 701, center of gravity inductor, 702, telescopic arm, 703, the support palm, 8, barrier inductor, 9, baffle plate, 10, fixing bolt,
11st, movable pulley, 12, wheel shaft, 13, support frame, the intelligent direction movement wheel body 1 is fixedly arranged above base 2, the base
2 surface is provided with gim peg 3, and the gim peg 3 is internally connected with rotary shaft 4, and the top of the rotary shaft 4 is provided with rotation
Motor 5, the existing robot move mode of in the market is more single, it is impossible to voluntarily adjust motion direction, so moves meeting
There are many troubles, the device is provided with rotary shaft 4, can voluntarily adjust motion direction by electric rotating machine 5 so that the device is more
Intellectuality, the both sides of the base 2 are fixed with telescopic rotating shaft 6, and the surface of the telescopic rotating shaft 6 is connected with connecting seat 7, the company
The lower end of joint chair 7 is welded with telescopic arm 702, and the head end of the telescopic rotating shaft 4 is provided with center of gravity inductor 701, the telescopic arm 702
End be fixed with the support palm 703, common robot is not provided with shatter-resistant safeguard measure, and robot crank when mobile is sent out
Raw to tilt and then fall down, it is more likely that robot is damaged or is broken down, the device is provided with center of gravity inductor 701, can be in machine
Device people swerve the weight unstable run-off the straight when quickly sense, and pass information to telescopic arm 702, telescopic arm 702 is when flat
Collapsed state, parallel with base 2, when receiving the signal of center of gravity inductor 701, quick rotation and elongation make support slap 703 and contacted
Robot is supported to ground, and then continuing elongation makes state before robot recurrence, and the support palm 703 is quality of rubber materials, can
Increase its frictional force with ground, prevent ground is smooth from failing to play shatter-resistant effect, so that device has higher stabilization
Property and security, the front of the base 2 are provided with barrier inductor 8, and the existing robot of in the market can not be by environment
The factors such as shape voluntarily change motion direction, such as there is a face wall in front when moving, and ordinary robot will not voluntarily change orientation
Move, the device is provided with barrier inductor 8, front obstacle can be induced, so that communicating information to electric rotating machine 5 makes
Obtain rotary shaft 4 to turn to, and then realize that robot voluntarily adjusts the purpose of motion direction, the rotary shaft 4 according to factors such as landform
Lower section be welded with baffle plate 9, the both sides of the baffle plate 9, which are connected with inside and outside support frame 13, support frame as described above 13, to be equipped with
Fixing bolt 10, the fixing bolt 10 is internally connected with wheel shaft 12, and the center of the wheel shaft 12 is provided with movable pulley 11, moves
The flying dust lattice gear that the baffle plate 9 of the top of driving wheel 11 takes up when can robot be moved, the flying dust splash when preventing from moving makes machine dirty
People in itself, so as to eliminate cleaning usually, saves substantial amounts of time and labour, so that operating efficiency is carried
It is high.
Operation principle：Before using this kind of mobile robot, overall structure that should be first to device does simple understanding,
Robot is fixed with intelligent direction movement wheel body 1 afterwards, robot is started by movable pulley 11 on movement, movable pulley 11
The flying dust lattice gear that the baffle plate 9 of side takes up when can robot be moved, the flying dust splash when preventing from moving makes robot dirty in itself, when
When device senses that there is barrier in front in movement by barrier inductor 8, barrier inductor 8 can communicate information to rotation
Motor 5 causes rotary shaft 4 to turn to, and then realizes that robot voluntarily adjusts the purpose of motion direction according to factors such as landform, and should
The movable pulley 11 of device can carry out 360 deg all-directional rotation, be caused to prevent robot crank in movement from falling down
Damage or failure, the device has added telescopic rotating shaft 6 in the both sides of base 2, the surface of telescopic rotating shaft 6 is provided with center of gravity inductor, weight
Heart inductor 701 can quickly be sensed when robot swerves the weight unstable run-off the straight, and pass information to telescopic arm
702, when telescopic arm 702 is flat be collapsed state, it is parallel with base 2, when receiving the signal of center of gravity inductor 701, quick rotation and
Elongation, makes the support palm 703 touch ground and supports robot, and and then continuing elongation makes state before robot recurrence, branch
The support palm 703 is quality of rubber materials, it is possible to increase its frictional force with ground, prevents ground is smooth from failing to play shatter-resistant effect, the above is just
It is the whole operation principle of the present invention.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of mobile robot, it is characterised in that：The intelligence being fixedly connected including robot body and with robot body
Direction movement wheel body (1), the intelligent direction movement wheel body (1) is fixedly arranged above base (2), the base (2)
Surface is provided with gim peg (3), and the gim peg (3) is internally connected with rotary shaft (4), and the top of the rotary shaft (4) is set
There is electric rotating machine (5), the both sides of the base (2) are fixed with telescopic rotating shaft (6), and the surface of the telescopic rotating shaft (6) is connected with
Connecting seat (7), the lower end of the connecting seat (7) is welded with telescopic arm (702), and the head end of the telescopic rotating shaft (4) is provided with center of gravity
Inductor (701), the end of the telescopic arm (702) is fixed with the support palm (703), and the front of the base (2) is provided with barrier
Hinder and baffle plate (9) is welded with below inductor (8), the rotary shaft (4), the both sides of the baffle plate (9) are connected with support frame
(13), it is equipped with fixing bolt (10) inside and outside support frame as described above (13), fixing bolt (10) are internally connected with
Wheel shaft (12), the center of the wheel shaft (12) is provided with movable pulley (11).
2. a kind of mobile robot according to claim 1, it is characterised in that：The electric rotating machine (5) and the rotation
Rotating shaft (4) is electrically connected with, and rotary shaft (4) is flexibly connected with the gim peg (3).
3. a kind of mobile robot according to claim 1, it is characterised in that：Support frame as described above (13) and the baffle plate
(9) it is fixedly connected, and baffle plate (9) is closely welded with the rotary shaft (4).
4. a kind of mobile robot according to claim 1, it is characterised in that：The barrier inductor (8) with it is described
Base (2) is connected, and barrier inductor (8) is connected with the electric rotating machine (5) signal.
5. a kind of mobile robot according to claim 1, it is characterised in that：The telescopic rotating shaft (6) is provided with two,
And telescopic rotating shaft (6) and connecting seat (7) are interspersed is connected.
6. a kind of mobile robot according to claim 1, it is characterised in that：The center of gravity inductor (701) and institute
The connection of telescopic arm (702) signal is stated, the support palm (703) is connected with the telescopic arm (702).
7. a kind of mobile robot according to claim 1, it is characterised in that：The movable pulley (11) is multiple.
8. a kind of mobile robot according to claim 7, it is characterised in that the movable pulley (11) is three or four
It is individual.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710746679.2A CN107297757A (en) | 2017-08-27 | 2017-08-27 | A kind of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710746679.2A CN107297757A (en) | 2017-08-27 | 2017-08-27 | A kind of mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107297757A true CN107297757A (en) | 2017-10-27 |
Family
ID=60132052
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710746679.2A Pending CN107297757A (en) | 2017-08-27 | 2017-08-27 | A kind of mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107297757A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098756A (en) * | 2017-12-30 | 2018-06-01 | 杭州南江机器人股份有限公司 | A kind of mobile robot stabilizing mechanism and the mobile robot equipped with the stabilizing mechanism |
| WO2019041071A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Movable robot |
| CN111284582A (en) * | 2020-03-26 | 2020-06-16 | 行星算力(深圳)科技有限公司 | A multifunctional all-terrain transport robot |
| CN112120421A (en) * | 2020-07-21 | 2020-12-25 | 山东尚品尚食品科技有限公司 | Special disinfection shoe cabinet for catering |
| CN112319605A (en) * | 2020-12-11 | 2021-02-05 | 贵州航天智慧农业有限公司 | Mobile platform with steering and lifting functions and using method |
| CN112548984A (en) * | 2020-12-10 | 2021-03-26 | 逻腾（杭州）科技有限公司 | Rolling obstacle crossing robot with telescopic arm |
| CN113427463A (en) * | 2021-05-25 | 2021-09-24 | 杭州申昊科技股份有限公司 | Movable obstacle-crossing live working robot |
| CN114852909A (en) * | 2021-02-03 | 2022-08-05 | 丰田自动车株式会社 | Conveyance system, control method, and storage medium |
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| JP2002366227A (en) * | 2001-06-05 | 2002-12-20 | Matsushita Electric Ind Co Ltd | Movable working robot |
| CN203449966U (en) * | 2013-09-18 | 2014-02-26 | 吉首沃华德机器人科技有限责任公司 | Differentially driven mobile robot chassis mechanism |
| CN104691644A (en) * | 2015-03-04 | 2015-06-10 | 南京理工大学 | Omni-directional mobile wheel module |
| CN105479434A (en) * | 2016-01-21 | 2016-04-13 | 厦门大学 | Intelligent freshness-preservation carrying robot |
| CN105620572A (en) * | 2016-04-01 | 2016-06-01 | 安徽理工大学 | Omni-directional movement mechanism for service robot |
| CN106003081A (en) * | 2016-06-24 | 2016-10-12 | 苏州美丽澄电子技术有限公司 | Protective device for family education robot |
| KR20160133020A (en) * | 2015-05-11 | 2016-11-22 | 부산외국어대학교 산학협력단 | Exploration robot for dangerous spot search |
| CN205835308U (en) * | 2016-07-30 | 2016-12-28 | 衢州格森电子技术有限公司 | A kind of many legs Anti-inclining formula robot base |
-
2017
- 2017-08-27 CN CN201710746679.2A patent/CN107297757A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2002366227A (en) * | 2001-06-05 | 2002-12-20 | Matsushita Electric Ind Co Ltd | Movable working robot |
| CN203449966U (en) * | 2013-09-18 | 2014-02-26 | 吉首沃华德机器人科技有限责任公司 | Differentially driven mobile robot chassis mechanism |
| CN104691644A (en) * | 2015-03-04 | 2015-06-10 | 南京理工大学 | Omni-directional mobile wheel module |
| KR20160133020A (en) * | 2015-05-11 | 2016-11-22 | 부산외국어대학교 산학협력단 | Exploration robot for dangerous spot search |
| CN105479434A (en) * | 2016-01-21 | 2016-04-13 | 厦门大学 | Intelligent freshness-preservation carrying robot |
| CN105620572A (en) * | 2016-04-01 | 2016-06-01 | 安徽理工大学 | Omni-directional movement mechanism for service robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019041071A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Movable robot |
| CN108098756A (en) * | 2017-12-30 | 2018-06-01 | 杭州南江机器人股份有限公司 | A kind of mobile robot stabilizing mechanism and the mobile robot equipped with the stabilizing mechanism |
| CN111284582A (en) * | 2020-03-26 | 2020-06-16 | 行星算力(深圳)科技有限公司 | A multifunctional all-terrain transport robot |
| CN111284582B (en) * | 2020-03-26 | 2023-11-17 | 行星算力(深圳)科技有限公司 | A multifunctional all-terrain transport robot |
| CN112120421A (en) * | 2020-07-21 | 2020-12-25 | 山东尚品尚食品科技有限公司 | Special disinfection shoe cabinet for catering |
| CN112548984A (en) * | 2020-12-10 | 2021-03-26 | 逻腾（杭州）科技有限公司 | Rolling obstacle crossing robot with telescopic arm |
| CN112319605A (en) * | 2020-12-11 | 2021-02-05 | 贵州航天智慧农业有限公司 | Mobile platform with steering and lifting functions and using method |
| CN114852909A (en) * | 2021-02-03 | 2022-08-05 | 丰田自动车株式会社 | Conveyance system, control method, and storage medium |
| CN113427463A (en) * | 2021-05-25 | 2021-09-24 | 杭州申昊科技股份有限公司 | Movable obstacle-crossing live working robot |
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Application publication date: 20171027 |