CN107662666A - A kind of wheeled distributed robot for crossing step - Google Patents
A kind of wheeled distributed robot for crossing step Download PDFInfo
- Publication number
- CN107662666A CN107662666A CN201710853209.6A CN201710853209A CN107662666A CN 107662666 A CN107662666 A CN 107662666A CN 201710853209 A CN201710853209 A CN 201710853209A CN 107662666 A CN107662666 A CN 107662666A
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- CN
- China
- Prior art keywords
- wheeled
- wheel
- container
- distributed robot
- trailing
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
Abstract
The invention discloses a kind of wheeled distributed robot for crossing step, including container and lid, the container is used to load goods, and the lid is connected to the top surface of container and can opened, wherein：Six wheels are provided with the bottom of container, there are three wheels respectively per side, is divided into a front-wheel and two trailing wheels；The wheel shaft of two trailing wheels of the same side is mutually fixed via a horizontal straight-bar, and the wheel shaft of two trailing wheels is connected on each longitudinally disposed piston rod, and drives corresponding trailing wheel to move up and down by respective pull bar motor；The wheel shaft of the front-wheel is connected on turning-bar, and listens steering motor to drive front-wheel steer；Due to employing two trailing wheels of the respective longitudinally disposed piston rod of connection in the same side, and fixed via a horizontal straight-bar, thus crossing for step is realized under the driving of respective pull bar motor, extends the scope of application of distributed robot, the street in the city that is particularly suitable for use in.
Description
Technical field
The present invention relates to wheeled distributed robot field, more particularly to a kind of wheeled delivery machine for crossing step
People.
Background technology
Traditional distributed robot is essentially all wheeled robot, and the most important problem of wheeled robot is exactly, only
It can operate indoors or on flat road, can not be crossed if running into step, such as run into the curb on avenue,
It thus limit the scope of application of distributed robot.
Therefore, prior art still has much room for improvement and developed.
The content of the invention
In order to solve the above technical problems, the present invention provides a kind of wheeled distributed robot for crossing step, platform can be crossed
Rank, extend the scope of application of distributed robot.
Technical scheme is as follows：A kind of wheeled distributed robot for crossing step, including container and lid, institute
Container to be stated to be used to load goods, the lid is connected to the top surface of container and can opened, wherein：The bottom of container is provided with six
Individual wheel, there are three wheels respectively per side, be divided into a front-wheel and two trailing wheels；The wheel shaft of two trailing wheels of the same side is via one
Horizontal straight-bar is mutually fixed, and the wheel shaft of two trailing wheels is connected on each longitudinally disposed piston rod, and by respective
Pull bar motor drives corresponding trailing wheel to move up and down；The wheel shaft of the front-wheel is connected on turning-bar, and listens steering motor to drive
Dynamic front-wheel steer.
The described wheeled distributed robot for crossing step, wherein：The preliminary stage of step is being crossed, after connecting centre
The pull bar motor of wheel releases connected piston rod so that middle trailing wheel lifts the front-wheel of container bottom, described straight
Bar is in horizontality.
The described wheeled distributed robot for crossing step, wherein：The mid-term stage of step is being crossed, after connecting centre
The pull bar motor of wheel withdraws connected piston rod, and the pull bar motor for connecting trailing wheel below pushes away connected piston rod
Go out so that trailing wheel below lifts the rear end of container, and the straight-bar is in heeling condition.
The described wheeled distributed robot for crossing step, wherein：Crossing the later stage of step, behind connection after
The pull bar motor of wheel withdraws connected piston rod, and the straight-bar is in horizontality.
The described wheeled distributed robot for crossing step, wherein：The top surface of the lid is provided with electronic password lock,
It can be unlocked after inputting password for addressee, and open the lid and take out transported goods.
The described wheeled distributed robot for crossing step, wherein：The password of the electronic password lock is by using intelligence
Corresponding APP softwares are modified in energy mobile phone.
The described wheeled distributed robot for crossing step, wherein：The installed in front of the container has depth camera
And laser radar, for the object in front to be identified and gathered.
The described wheeled distributed robot for crossing step, wherein：The bottom of the container is provided with interlayer, in interlayer
CPU, GPS module, GPRS module and battery are installed, the depth camera and laser radar pass through wire and CPU phases
Connection, for the data of collection to be transferred into CPU processing, and positioning and map constructing method immediately are combined, for identifying
Three-dimensional barrier, and the current location for the wheeled distributed robot of Intelligent Recognition, and it is moved and is controlled.
A kind of wheeled distributed robot for crossing step provided by the present invention, it is each due to employing connection in the same side
Fixed from two trailing wheels of longitudinally disposed piston rod, and via a horizontal straight-bar, thus under the driving of respective pull bar motor
Crossing for step is realized, extends the scope of application of distributed robot, the street in the city that is particularly suitable for use in.
Brief description of the drawings
Fig. 1 is schematic diagram of the wheeled distributed robot's embodiment of the present invention when flat road surface moves；
Fig. 2 is schematic diagram when the wheeled distributed robot's embodiment front-wheel of the present invention crosses step；
Fig. 3 is schematic diagram when the wheeled distributed robot's embodiment trailing wheel of the present invention crosses step；
Fig. 4 is that the wheeled distributed robot's embodiment of the present invention crosses schematic diagram after step.
Embodiment
Below with reference to accompanying drawing, the embodiment and embodiment of the present invention are described in detail, described tool
Body embodiment only to explain the present invention, is not intended to limit the embodiment of the present invention.
As shown in figure 1, Fig. 1 is schematic diagram of the wheeled distributed robot's embodiment of the present invention when flat road surface moves, should
The wheeled distributed robot that step can be crossed includes a container 110 for being used to load goods, and the top surface of the container 110 is connected with
One openable lid 120, the top surface of the lid are provided with electronic password lock, can be solved after inputting password for addressee
Lock, and open the lid 120 and take out transported goods；The password of the electronic password lock is by using corresponding in smart mobile phone
APP softwares modify；The installed in front of the container 110 has depth camera and laser radar, for the thing to front
Body is identified and gathered；The bottom of the container 110 is provided with interlayer, and CPU, GPS module, GPRS module are provided with interlayer
And the related component such as battery；The depth camera and laser radar are connected by wire with CPU, for that will gather
Data be transferred to CPU processing, and it is instant to combine SLAM (simultaneous localization and mapping)
Positioning and map constructing method, for identifying the barrier of solid, to prevent from colliding, and send for Intelligent Recognition to be wheeled
The current location of goods robot, the positioning to the wheeled distributed robot can be both realized on the map of smart mobile phone, again might be used
To carry out network service using mobile network and the wheeled distributed robot, and it is moved and is controlled.
On this basis, the greatest improvement point of the wheeled distributed robot of the present invention is that step can be crossed, therefore, at this
Invent wheeled distributed robot and be provided with six wheels altogether in the bottom of container 110, there are three wheels respectively per side, be divided into one
Front-wheel 130 and two trailing wheels (140 and 150)；The wheel shaft of two trailing wheels (140 and 150) of the same side is via a horizontal straight-bar
160 phases are fixed, and the wheel shaft of two trailing wheels (140 or 150) is connected on each longitudinally disposed piston rod, and by respective
Pull bar motor drive corresponding trailing wheel (140 or 150) to move up and down；The wheel shaft of front-wheel 130 is connected on turning-bar, and is passed through
Steering motor driving front-wheel 130 turns to.
Wheeled distributed robot in Fig. 1 moves ahead on flat road surface, passes through depth camera and laser radar in real time
The object in front is identified and data acquisition, has judged whether barrier, if be stopped for specifying if having when
Between, if barrier is removed, continue to move ahead, if barrier is motionless, pass through with regard to turning to detour；Now, at the straight-bar 160
In horizontality.
With reference to shown in Fig. 2, Fig. 2 is schematic diagram when the wheeled distributed robot's embodiment front-wheel of the present invention crosses step, when
When front runs into step 200, to cross the preliminary stage of step, connecting the pull bar motor of a middle trailing wheel 140 will connect with it
The piston rod connect is released so that and middle trailing wheel 140 lifts the front-wheel 130 of the bottom of container 110, thus while advancing,
Front-wheel 130 can forge ahead 200；Now, the straight-bar 160 is in horizontality.
With reference to shown in Fig. 3, Fig. 3 is schematic diagram when the wheeled distributed robot's embodiment trailing wheel of the present invention crosses step, when
Front-wheel 130 is forged ahead after 200, and to cross the mid-term stage of step, front-wheel 130 continues to roll, now, among connection after one
The pull bar motor of wheel 140 withdraws connected piston rod, at the same time, the pull bar motor of connection latter one trailing wheel 150
Connected piston rod to be released so that trailing wheel 150 below lifts the rear end of container 100, thus while advancing,
A middle trailing wheel 140 can also forge ahead 200；Now, the straight-bar 160 is in heeling condition.
With reference to shown in Fig. 4, Fig. 4 is that the wheeled distributed robot's embodiment of the present invention crosses schematic diagram after step, central
Between a trailing wheel 140 forge ahead after 200, to cross the later stage of step, front-wheel 130 continues to roll, now, behind connection
The pull bar motor of one trailing wheel 150 withdraws connected piston rod, thus while advancing, latter one trailing wheel 150
Also 200 are just forged ahead；Now, the straight-bar 160 is in horizontality again；So far, the wheeled distributed robot of the present invention is with regard to complete
Into the whole process for crossing step.
It should be appreciated that the foregoing is merely illustrative of the preferred embodiments of the present invention, it e insufficient to the limitation present invention's
Technical scheme, for those of ordinary skills, within the spirit and principles in the present invention, it can add according to the above description
Increasing and decreasing, replacing, converting or improving, and the technical scheme after all these increases and decreases, replacement, conversion or improvement, it should all belong to this
The protection domain of invention appended claims.
Claims (8)
1. a kind of wheeled distributed robot for crossing step, including container and lid, the container is used to load goods, described
Lid is connected to the top surface of container and can opened, it is characterised in that：Six wheels are provided with the bottom of container, are had respectively per side
Three wheels, it is divided into a front-wheel and two trailing wheels；The wheel shaft of two trailing wheels of the same side is mutually fixed via a horizontal straight-bar,
The wheel shaft of two trailing wheels is connected on each longitudinally disposed piston rod, and is driven accordingly by respective pull bar motor
Trailing wheel moves up and down；The wheel shaft of the front-wheel is connected on turning-bar, and listens steering motor to drive front-wheel steer.
2. the wheeled distributed robot according to claim 1 for crossing step, it is characterised in that：Before step is crossed
Stage phase, connect among the pull bar motor of trailing wheel connected piston rod is released so that middle trailing wheel is by container bottom
Front-wheel lift, the straight-bar is in horizontality.
3. the wheeled distributed robot according to claim 1 for crossing step, it is characterised in that：In step is crossed
Stage phase, the pull bar motor for connecting middle trailing wheel withdraw connected piston rod, and the pull bar motor for connecting trailing wheel below will
Connected piston rod is released so that trailing wheel below lifts the rear end of container, and the straight-bar is in heeling condition.
4. the wheeled distributed robot according to claim 1 for crossing step, it is characterised in that：After step is crossed
Stage phase, the pull bar motor for connecting trailing wheel below withdraw connected piston rod, and the straight-bar is in horizontality.
5. the wheeled distributed robot according to claim 1 for crossing step, it is characterised in that：The top surface of the lid
Electronic password lock is provided with, can be unlocked after inputting password for addressee, and opens the lid and takes out transported goods.
6. the wheeled distributed robot according to claim 5 for crossing step, it is characterised in that：The electronic password lock
Password modified by using corresponding APP softwares in smart mobile phone.
7. the wheeled distributed robot according to claim 1 for crossing step, it is characterised in that：The front side of the container
Depth camera and laser radar are installed, for the object in front to be identified and gathered.
8. the wheeled distributed robot according to claim 7 for crossing step, it is characterised in that：The bottom of the container
Interlayer is provided with, CPU, GPS module, GPRS module and battery, the depth camera and laser radar are installed in interlayer
It is connected by wire with CPU, for the data of collection to be transferred into CPU processing, and combines positioning and map immediately
Construction method, for identifying the barrier of solid, and the current location for the wheeled distributed robot of Intelligent Recognition, and to it
Motion is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710853209.6A CN107662666A (en) | 2017-09-20 | 2017-09-20 | A kind of wheeled distributed robot for crossing step |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710853209.6A CN107662666A (en) | 2017-09-20 | 2017-09-20 | A kind of wheeled distributed robot for crossing step |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107662666A true CN107662666A (en) | 2018-02-06 |
Family
ID=61097407
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710853209.6A Pending CN107662666A (en) | 2017-09-20 | 2017-09-20 | A kind of wheeled distributed robot for crossing step |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107662666A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108398948A (en) * | 2018-02-11 | 2018-08-14 | 北京三快在线科技有限公司 | Robot control method and robot controller |
| CN108748180A (en) * | 2018-06-11 | 2018-11-06 | 黄红友 | A kind of Intelligent Mobile Robot |
| CN109677507A (en) * | 2019-01-04 | 2019-04-26 | 南开大学 | A kind of rolling wheeled robot chassis |
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| US20030183427A1 (en) * | 2002-04-01 | 2003-10-02 | Sanyo Electric Co., Ltd. | Method of climbing up/down a step, bogie and wheelchair |
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| CN102963455A (en) * | 2012-11-12 | 2013-03-13 | 上海交通大学 | Pull rod type suspended robot wheel leg walking mechanism |
| CN203460696U (en) * | 2013-10-15 | 2014-03-05 | 周赛君 | Six-wheeled full drive obstacle clearance car |
| CN205292846U (en) * | 2015-12-13 | 2016-06-08 | 温州大学城市学院 | Relief of disaster mechanical device of three axle construction |
| WO2017076806A1 (en) * | 2015-11-02 | 2017-05-11 | Starship Technologies Oü | Obstacle traversing mobile robot |
| CN206475185U (en) * | 2016-11-29 | 2017-09-08 | 盐城旭华机械有限公司 | A kind of express mail transport robot |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030183427A1 (en) * | 2002-04-01 | 2003-10-02 | Sanyo Electric Co., Ltd. | Method of climbing up/down a step, bogie and wheelchair |
| JP2009090795A (en) * | 2007-10-09 | 2009-04-30 | Ihi Corp | Multi-leg type traveling device |
| CN102963455A (en) * | 2012-11-12 | 2013-03-13 | 上海交通大学 | Pull rod type suspended robot wheel leg walking mechanism |
| CN203460696U (en) * | 2013-10-15 | 2014-03-05 | 周赛君 | Six-wheeled full drive obstacle clearance car |
| WO2017076806A1 (en) * | 2015-11-02 | 2017-05-11 | Starship Technologies Oü | Obstacle traversing mobile robot |
| CN205292846U (en) * | 2015-12-13 | 2016-06-08 | 温州大学城市学院 | Relief of disaster mechanical device of three axle construction |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108398948A (en) * | 2018-02-11 | 2018-08-14 | 北京三快在线科技有限公司 | Robot control method and robot controller |
| CN108398948B (en) * | 2018-02-11 | 2019-06-07 | 北京三快在线科技有限公司 | Robot control method and robot controller |
| CN108748180A (en) * | 2018-06-11 | 2018-11-06 | 黄红友 | A kind of Intelligent Mobile Robot |
| CN109677507A (en) * | 2019-01-04 | 2019-04-26 | 南开大学 | A kind of rolling wheeled robot chassis |
| CN109677507B (en) * | 2019-01-04 | 2020-05-19 | 南开大学 | Chassis of rolling wheel type robot |
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| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180206 |
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| RJ01 | Rejection of invention patent application after publication |