CN108100062A - A kind of intelligent plant mobile robot - Google Patents
A kind of intelligent plant mobile robot Download PDFInfo
- Publication number
- CN108100062A CN108100062A CN201711492230.4A CN201711492230A CN108100062A CN 108100062 A CN108100062 A CN 108100062A CN 201711492230 A CN201711492230 A CN 201711492230A CN 108100062 A CN108100062 A CN 108100062A
- Authority
- CN
- China
- Prior art keywords
- wheel
- rotatable
- shaft
- cavity volume
- push
- 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.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 135
- 210000000056 organ Anatomy 0.000 claims abstract description 7
- 230000003287 optical effect Effects 0.000 claims description 63
- 230000001360 synchronised effect Effects 0.000 claims description 52
- 230000008859 change Effects 0.000 claims description 40
- 230000009467 reduction Effects 0.000 claims description 30
- 230000005540 biological transmission Effects 0.000 claims description 26
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 12
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of intelligent plant mobile robots, include including being used to support the car body of general frame and the principal organ of composition general frame, the principal organ：Actuating unit, rotating mechanism, swing mechanism, push shaft mechanism, rushing board mechanism, it is connected on the inside of the actuating unit right end with rear main wheel rotatable engagement, the rear main wheel is rotatable through symmetrically arranged rear wheel plate, it is connected after described on the inside of wheel plate right end with back front driven wheel rotatable engagement, it is connected on the inside of the actuating unit left end with preceding driving wheel rotatable engagement, it is connected on the inside of the actuating unit left end with preceding driving wheel rotatable engagement, the preceding driving wheel is rotatable to run through symmetrically arranged preceding wheel plate, it is connected on the inside of the preceding wheel plate left end with front driven wheel rotatable engagement, apparatus of the present invention are simple in structure, it is easy to use, using different flexible mechanisms, it improves work efficiency, and the accuracy that cargo picks and places, with good power performance.
Description
Technical field
The present invention relates to intelligent plant fields, and in particular to a kind of intelligent plant mobile robot.
Background technology
With the proposition of industry 4.0, the strategic objective of state in progress of China manufacture 2025, in today of new era,
Intelligentized factory is gradually replacing traditional manufacturing works, in intelligent chemical plant using it is most common be robot, mesh
The function that preceding robot has is excessively single, this mobile robot, using different flexible mechanisms, improves on cargo picks and places
The accuracy that work efficiency and cargo pick and place has good power performance.
The content of the invention
It is an object of the invention to provide a kind of intelligent plant mobile robots, and the above-mentioned of the prior art can be overcome to lack
It falls into.
According to the present invention, a kind of intelligent plant mobile robot of apparatus of the present invention, including being used to support general frame
The principal organ of car body and composition general frame, the principal organ include：Actuating unit, rotating mechanism, push away swing mechanism
Axis mechanism, rushing board mechanism, the actuating unit right end inside are connected with rear main wheel rotatable engagement, and the rear main wheel is rotatable
The wheel plate after symmetrically arranged, be connected after described with back front driven wheel rotatable engagement on the inside of wheel plate right end, the actuating unit
It is connected on the inside of left end with preceding driving wheel rotatable engagement, the preceding driving wheel is rotatable through symmetrically arranged preceding wheel plate, described
It is connected on the inside of preceding wheel plate left end with front driven wheel rotatable engagement, the rear main wheel, back front driven wheel outer ring and one group of crawler belt rotate
Cooperation linking, the front driven wheel, preceding driving wheel outer ring are connected with another group of crawler belt rotatable engagement, so that the actuating unit
Power be transferred to the power wheel, mobile robot is driven to carry out forward-reverse, car body lower end pillar is rotatable
It is provided with two groups and wears axis, the axis difference of wearing is rotatable through rear wheel plate, the preceding wheel plate, so that mobile robot is being met
The stability of entire frame can be still kept when adjusting height to barrier, the car body upper end is fixedly installed whirler
Structure, the rotating mechanism upper end is rotatable to be provided with swing mechanism, and the swing mechanism left and right sides is rotatable to be symmetrical arranged
There is push shaft mechanism, push shaft mechanism upper end is telescopic to be provided with rushing board mechanism.
Further technical solution, the actuating unit includes power electric drive machine, power electric drives machine tablet, headstock, moves
Power case cavity volume, the active force gear teeth, from power wheel tooth, active force sprocket wheel, from power chain, turn change, the power electric drives machine
It is fixedly installed on power electric and drives machine tablet front end face, the power electric drives machine flat back face and is connected with headstock fixation, described
Headstock cavity volume is provided in headstock, the line shaft that the power electric drives machine is rotatable through the headstock cavity volume front end
Inner wall, the power shaft rear end are connected with the fixation of the active force gear teeth, and the active force gear teeth are connected with from power wheel tooth tooth form, institute
State and be connected from the fixation of power wheel tooth and rear main wheel front end axis, rear main wheel front end axis is rotatable be disposed through described in
The turn change of inner wall on the right side of headstock cavity volume rear end, rear main wheel front end axis is fixedly installed active force sprocket wheel, described
Active force sprocket wheel is connected by chain with from power chain rotatable engagement, described to be fixed from power chain and preceding driving wheel front end axis
Linking, the similary rotatable turn for being disposed through the headstock cavity volume rear end inner left wall of the preceding driving wheel front end axis
Change, said mechanism are symmetrically disposed on the mobile robot other end, and difference lies in be fitted without the power electric to drive machine, active force
The gear teeth, from power wheel tooth, so that mobile robot when mobile robot height is adjusted, can still be made to work on and
Even running.
Further technical solution, the rotating mechanism are same including buckle, buckle cavity volume, electric rotating drive machine, the first active
Belt wheel, the first synchronous belt, the first passive and synchronous belt wheel, the second passive and synchronous belt wheel, the second active synchronization belt wheel, swing electricity is walked to drive
Machine, column spinner change, rotary body, column spinner cavity volume, column spinner, main shaft change, the buckle lower end are consolidated with the car body upper end
Fixed cooperation is connected, and buckle cavity volume is provided in the buckle, and buckle upper end left and right sides is fixedly installed electric rotating drive respectively
Machine swings electric drive machine, and the electric rotating drives the rotatable upper end inner wall and first through the buckle cavity volume of line shaft of machine
Active synchronization belt wheel secure fit is connected, and the line shaft of the electric drive machine of swing is rotatable through the upper end of the buckle cavity volume
Inner wall is connected with the second active synchronization belt wheel secure fit, and the buckle cavity volume upper end inner wall middle part is fixedly installed rotation
Column change, it is rotatable in the column spinner change to be provided with rotary body, the rotary body lower end and the first passive and synchronous belt wheel
Secure fit is connected, and the first passive and synchronous belt wheel passes through the first synchronous belt and the first active synchronization belt wheel rotatable engagement
Linking, a rotating body are provided with column spinner cavity volume, and the column spinner cavity volume inner wall upper and lower sides are fixedly installed two groups of main shafts
Change, rotatable in the main shaft change to be provided with column spinner, it is passive and synchronous that the column spinner lower end is fixedly installed second
Belt wheel, the second passive and synchronous belt wheel are connected by the second synchronous belt with the second active synchronization belt wheel rotatable engagement, institute
It states rotary body upper end with the swing mechanism secure fit to be connected, so as to improve the power performance of mobile robot.
Further technical solution, the swing mechanism include：Transmission case, transmission case cavity volume, transmission case change, the second wheel
Tooth shaft, the second cone pulley tooth, the first cone pulley tooth, shaft coupling, first round tooth shaft, the transmission case are fixedly installed on the rotary body
It holds, transmission case cavity volume is provided in the transmission case, the column spinner upper end is rotatable to run through the transmission case cavity volume lower end
Inner wall middle part is connected with the first cone pulley tooth secure fit, and the transmission case cavity volume left and right sides inner wall is fixedly installed two groups of biographies
Dynamic case change, it is rotatable in the transmission case change to be provided with the second wheel tooth shaft, first round tooth shaft, the second wheel tooth shaft,
First round tooth shaft is connected by shaft coupling rotatable engagement, and the second wheel tooth shaft outer ring is fixedly installed the second cone pulley tooth, described
Second cone pulley tooth is connected with the first cone pulley tooth tooth form cooperation, and the second wheel tooth shaft left end is fixedly installed push shaft mechanism,
The first round tooth shaft right end is equally fixedly installed push shaft mechanism, thus by the rotation of the column spinner, is converted into described push away
The rotation of axis mechanism improves the operation flexibility of mobile robot.
Further technical solution, the push shaft mechanism include：Push shaft case, push shaft change, interior spiral reel, push shaft case hold
Chamber, helical hole, reduction box, the active gear teeth, the driven gear teeth, reduction box cavity volume, reduction box electricity drive machine, helical block, optical axis, endoporus
Block, fixture block are provided with push shaft case cavity volume in the push shaft case, and the push shaft case cavity volume upper and lower side inner wall is fixedly installed two groups and pushes away
Axis change, it is rotatable in the push shaft change to be provided with interior spiral reel, helical hole, the spiral shell are provided in the interior spiral reel
String holes is connected with the cooperation of helical block helical, and the helical block upper end is fixedly installed optical axis, and the optical axis movably runs through institute
State helical hole, push shaft case cavity volume upper end inner wall is connected with endoporus block secure fit, the optical axis and the fixture block are slidably matched company
It connects, the push shaft case right-end openings position is fixedly installed reduction box, and reduction box cavity volume is provided in the reduction box, described to subtract
Fast case upper surface is fixedly installed reduction box electricity drive machine, and the line shaft of the reduction box electricity drive machine is rotatable to run through the deceleration
Case cavity volume upper end inner wall is connected with active gear teeth secure fit, and the active gear teeth are connected with the driven gear teeth tooth form cooperation.
Further technical solution, the rushing board mechanism include：L-type plate, vertical block, push plate optical axis, push plate, push-jump optical axis,
Push shaft mechanism, the L-type plate upper surface left-hand portion are symmetrically fixedly installed two groups and found block, and the vertical block upper end is rotatable to be set
Push plate optical axis is equipped with, the push plate optical axis outer ring is fixed with lower end position on the right side of push plate to be connected, upper-end part of driving on the right side of the push plate
Push-jump optical axis is fixedly installed, the push-jump optical axis outer ring is rotatable to be provided with endoporus block, and the endoporus block right end fixation is set
Push shaft mechanism is equipped with, the push shaft mechanism is fixedly installed on upper-end part of driving on the right side of L-type plate.
The beneficial effects of the invention are as follows：
For car body in apparatus of the present invention in original state, the axis of wearing is rotatably arranged on car body lower end pillar, institute
State wear axis it is rotatable through front and rear symmetrically arranged preceding wheel plate, car body described in rear wheel plate support entire moving machine as frame
Device people, the preceding left back end of wheel plate is rotatable to be provided with front driven wheel, the preceding wheel plate right rear end is rotatable be provided with before
Driving wheel, the preceding driving wheel are connected through the preceding wheel plate with actuating unit cooperation, and the front driven wheel, preceding driving wheel pass through
Crawler belt rotatable engagement is connected, and the rear wheel plate right rear end is rotatable to be provided with back front driven wheel, and the rear left back end of wheel plate can revolve
What is turned is provided with rear main wheel, and the rear main wheel is connected through the rear wheel plate with actuating unit cooperation, the back front driven wheel,
Rear main wheel is connected by crawler belt rotatable engagement, and the car body upper end is fixedly installed rotating mechanism, the rotating mechanism upper end
Swing mechanism is fixedly installed, the swing mechanism left and right sides is symmetrically fixedly installed push shaft mechanism, push shaft mechanism upper end
Rushing board mechanism is fixedly installed, so as to form entire mobile robot, different structure improves the flexibility and use of robot
Convenience.
In use, the actuating unit work, drives mobile robot to move, and when needing to carry out goods movement, control
The rotating mechanism makes partly to be rotated on trolley and push shaft mechanism is swung up and down, and makes when cargo is distant, described in control
Push shaft mechanism stretches and makes the rushing board mechanism that can freely overturn to pick and place cargo, so that mobile robot has efficient picking
Mobile efficiency.
When starting mobile robot, the power electric, which drives mechanomotive force axis, drives the main power wheel tooth spiral to turn, with active
The slave power wheel tooth of wheels tooth tooth form cooperation also rotates with, and described fixed from power wheel tooth and the rear main wheel front end is held in the mouth
It connects, the rear main wheel also rotates with, and the active force sprocket wheel is fixed with the rear main wheel front end to be connected, the active force
Sprocket wheel is connected by chain with from power chain rotatable engagement, described to be held in the mouth from power chain and the preceding driving wheel secure fit
Connect, the rotation of the rear main wheel be transferred to it is described from power chain, preceding driving wheel so that mobile robot possess it is excellent
Elegant walking function.
When mobile robot top half needs rotation, the electric rotating drives machine work and drives described first actively
Synchronous pulley is rotated, and the first active synchronization belt wheel passes through the first synchronous belt and the first passive and synchronous belt wheel rotatable engagement
Linking, then the described first passive and synchronous belt wheel is also rotated, under the first passive and synchronous belt wheel upper end and the rotary body
Secure fit linking is held, then the rotary body is also rotated, and the rotary body upper end is fixed with the swing mechanism lower end matches somebody with somebody
Linking is closed, then the swing mechanism is also rotated, so that mobile robot has the function of rotation, improves work model
It encloses.
When mobile robot needs to carry out angular adjustment according to cargo height, the electric drive machine work of swing is driven described
Second active synchronization belt wheel rotates, and the second active synchronization belt wheel is rotated by the first synchronous belt and the second passive and synchronous belt wheel
Cooperation linking, then the described second passive and synchronous belt wheel is also rotated.The second passive and synchronous belt wheel upper end and the rotation
Column secure fit is connected, then the column spinner is also rotated, the column spinner upper end and the first cone pulley tooth secure fit
Linking, the first cone pulley tooth are connected with the second cone pulley tooth tooth form cooperation, then the first cone pulley tooth, the second cone pulley tooth
Rotated, the second cone pulley tooth with described second wheel tooth shaft secure fit be connected, it is described second take turns tooth shaft left end with it is described
The secure fit linking of push shaft mechanism, the second wheel tooth shaft right end are connected with the shaft coupling secure fit, and the shaft coupling is right
End is connected with the first round tooth shaft secure fit, and the first round tooth shaft right end is connected with push shaft mechanism secure fit,
Then the push shaft mechanism is also rotated, it is achieved thereby that the function that mobile robot is adjusted according to cargo height, improves work
Make scope, and with good mobility.
When mobile robot need when picking and placeing cargo more at a distance, the push shaft reduction box electricity drive machine work within the organization
Make, the driving wheel tooth spiral driven to turn, the active gear teeth and driven gear teeth tooth form coordinate and are connected, then the driven gear teeth also into
Row rotation, the driven gear teeth are connected with the interior spiral reel secure fit, then the interior spiral reel is also rotated, described interior
Helical hole is provided in spiral reel, the helical hole is connected with the cooperation of helical block helical, and the optical axis is slided with the fixture block
It is connected and limits the optical axis and rotate, then by the translating rotation of the interior spiral reel to be moved down on the helical block
Dynamic, the helical block upper end is fixedly installed optical axis, then the optical axis also moves up and down, the optical axis upper end fixed setting
Have endoporus block, mobile cavity be provided in the endoporus block, available for mobile cooperation linking so that mobile robot can compared with
Cargo is picked and placeed at a distance, improves convenience.
When mobile robot is when picking and placeing cargo, the push shaft mechanism in the rushing board mechanism stretches, and drives and endoporus
The push-jump optical axis of block rotatable engagement linking moves back and forth, and the push-jump optical axis is connected with the push plate secure fit, the push plate
It is connected with the cooperation of push plate optical axis rotation, the push plate optical axis is connected with vertical block secure fit, then is moved before and after the push-jump optical axis
When dynamic, swung the push plate under the action of the push plate optical axis, it is achieved thereby that robot pick and place that cargo makes can be with
Flip angle improves flexibility, has saved the production time.
Apparatus of the present invention are simple in structure, easy to use, using different flexible mechanisms, improve work efficiency and cargo
The accuracy picked and placeed has good power performance.The above, the specific embodiment only invented, but the protection invented
Scope is not limited thereto, and any change or replacement expected without creative work should all cover the protection model in invention
Within enclosing.Therefore, the protection domain of invention should be determined by the scope of protection defined in the claims.
Description of the drawings
It, below will be to embodiment or existing in order to illustrate more clearly of inventive embodiments or technical solution of the prior art
Attached drawing is briefly described needed in technology description, it should be apparent that, the accompanying drawings in the following description is only to invent
Some embodiments, for those of ordinary skill in the art, without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of overall structure diagram of intelligent plant mobile robot of the present invention；
Fig. 2 is the enlarged structure schematic diagram of actuating unit 108 in Fig. 1；
Fig. 3 is the enlarged structure schematic diagram of rotating mechanism 115 in Fig. 1；
Fig. 4 is the enlarged structure schematic diagram of swing mechanism 116 in Fig. 1；
Fig. 5 is the enlarged structure schematic diagram of Tu1Zhong push shafts mechanism 117；
Fig. 6 is the enlarged structure schematic diagram of rushing board mechanism 118 in Fig. 1.
Specific embodiment
All features or disclosed all methods disclosed in this specification or in the process the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
This specification（Including any accessory claim, summary and attached drawing）Disclosed in any feature, except non-specifically chatting
It states, can be replaced by other alternative features that are equivalent or have similar purpose.I.e., unless specifically stated, each feature
It is an example in a series of equivalent or similar characteristics.
As shown in figures 1 to 6, a kind of intelligent plant mobile robot of the invention, the car body including being used to support general frame
114 and the principal organ of general frame is formed, the principal organ includes：Actuating unit 108, rotating mechanism 115, oscillating machine
Structure 116, push shaft mechanism 117, rushing board mechanism 118,108 right end of the actuating unit inside are held in the mouth with 106 rotatable engagement of rear main wheel
Connect, the rotatable wheel plate 102 after symmetrically arranged of the rear main wheel 106, it is described after on the inside of 102 right end of wheel plate with after from
105 rotatable engagement of driving wheel is connected, and is connected on the inside of 108 left end of actuating unit with preceding 109 rotatable engagement of driving wheel, main before described
Driving wheel 109 is rotatable to be rotated on the inside of symmetrically arranged preceding wheel plate 111, preceding 111 left end of wheel plate with front driven wheel 110
Cooperation linking, the rear main wheel 106,105 outer ring of back front driven wheel are connected with one group of 107 rotatable engagement of crawler belt, described preceding driven
Wheel 110,109 outer ring of preceding driving wheel are connected with another group of 107 rotatable engagement of crawler belt, so that the power of the actuating unit 108
The power wheel has been transferred to, mobile robot is driven to carry out forward-reverse, the 114 rotatable setting of lower end pillar of car body
There are two groups to wear axis 112, the axis 112 of wearing distinguishes rotatable wheel plate 102, preceding wheel plate 111 after described, so that moving machine
Device people can still keep the stability of entire frame when running into barrier and adjusting height, and 114 upper end of car body is fixed and set
Rotating mechanism 115 is equipped with, 115 upper end of rotating mechanism is rotatable to be provided with swing mechanism 116, the swing mechanism 116
Left and right sides is rotatable to be symmetrically arranged with push shaft mechanism 117, and 117 upper end of push shaft mechanism is telescopic to be provided with rushing board mechanism
118。
Valuably, wherein, the actuating unit 108 includes power electric and drives machine 201, power electric drive machine tablet 202, headstock
203rd, headstock cavity volume 204, the active force gear teeth 205, from power wheel tooth 206, active force sprocket wheel 207, from power chain 208, rotation
Turn ring 210, the power electric drive machine 201 and are fixedly installed on 202 front end face of power electric drive machine tablet, and the power electric drives machine and puts down
202 rear end face of plate is connected with the fixation of headstock 203, and headstock cavity volume 204, the power electric are provided in the headstock 203
The line shaft of drive machine 201 is rotatable to run through 204 front inner wall of headstock cavity volume, the power shaft rear end and main power wheel
Tooth 205 fixes linking, and the active force gear teeth 205 are connected with from 206 tooth form of power wheel tooth, it is described from power wheel tooth 206 and after
106 front end axis of driving wheel fixes linking, and the 106 front end axis of rear main wheel is rotatable to be disposed through the headstock cavity volume
The turn change 210 of inner wall, the 106 front end axis of rear main wheel are fixedly installed active force sprocket wheel 207, institute on the right side of 204 rear ends
Active force sprocket wheel 207 is stated by chain 209 with from 208 rotatable engagement of power chain to be connected, it is described from power chain 208 and preceding master
109 front end axis of driving wheel fixes linking, and the preceding 109 front end axis of driving wheel is equally rotatable to be disposed through the headstock appearance
The turn change 210 of 204 rear end inner left wall of chamber, said mechanism are symmetrically disposed on the mobile robot other end, and difference lies in do not have
There is the installation power electric to drive machine 201, the active force gear teeth 205, from power wheel tooth 206, so as to be adjusted when mobile robot height
When, mobile robot can still be made to work on and even running.
Valuably, wherein, the rotating mechanism 115 includes buckle 301, buckle cavity volume 302, electric rotating and drives machine 303, first
Active synchronization belt wheel 304, the first synchronous belt 305, the first passive and synchronous belt wheel 306, the second passive and synchronous belt wheel 307, second are led
Dynamic synchronous pulley 308, swing electric drive machine 309, column spinner change 310, rotary body 311, column spinner cavity volume 312, column spinner 313,
Main shaft change 314,301 lower end of buckle are connected with the 114 upper end secure fit of car body, are provided in the buckle 301
Buckle cavity volume 302, the 301 upper end left and right sides of buckle are fixedly installed electric rotating and drive machine 303, swing electric drive machine 309, institute respectively
State the rotatable upper end inner wall and the first active synchronization band through the buckle cavity volume 302 of line shaft that electric rotating drives machine 303
The linking of 304 secure fits is taken turns, the line shaft of the electric drive machine 309 of swing is rotatable through the upper end of the buckle cavity volume 302
Inner wall is connected with 308 secure fit of the second active synchronization belt wheel, 302 upper end inner wall middle part of the buckle cavity volume fixed setting
There is a column spinner change 310, it is rotatable in the column spinner change 310 to be provided with rotary body 311,311 lower end of rotary body
Be connected with the first passive and synchronous 306 secure fit of belt wheel, the first passive and synchronous belt wheel 306 by the first synchronous belt 305 with
First active synchronization belt wheel, 304 rotatable engagement is connected, and column spinner cavity volume 312, the rotation are provided in the rotary body 311
312 inner wall upper and lower sides of rotary column cavity volume are fixedly installed two groups of main shaft changes 314, rotatable setting in the main shaft change 314
There is column spinner 313,313 lower end of column spinner is fixedly installed the second passive and synchronous belt wheel 307, the second passive and synchronous band
Wheel 307 is connected by the second synchronous belt 317 with 308 rotatable engagement of the second active synchronization belt wheel, 311 upper end of rotary body
It is connected with 116 secure fit of swing mechanism, so as to improve the power performance of mobile robot.
Valuably, wherein, the swing mechanism 116 includes：Transmission case 401, transmission case cavity volume 402, transmission case change
403rd, the second wheel tooth shaft 404, the second cone pulley tooth 405, the first cone pulley tooth 406, shaft coupling 407, first round tooth shaft 408, the biography
Dynamic case 401 is fixedly installed on 311 upper end of rotary body, and transmission case cavity volume 402, the rotation are provided in the transmission case 401
313 upper end of rotary column is rotatable to match somebody with somebody through the 402 lower end inner wall middle part of transmission case cavity volume and the fixation of the first cone pulley tooth 406
Linking is closed, the 402 left and right sides inner wall of transmission case cavity volume is fixedly installed two groups of transmission case changes 403, the transmission case change
It is rotatable in 403 to be provided with the second wheel tooth shaft 404, first round tooth shaft 408, the second wheel tooth shaft 404, first round tooth shaft
408 are connected by 407 rotatable engagement of shaft coupling, and 404 outer ring of the second wheel tooth shaft is fixedly installed the second cone pulley tooth 405, institute
It states the second cone pulley tooth 405 with 406 tooth form of the first cone pulley tooth cooperation to be connected, the second wheel tooth shaft, 404 left end fixed setting
There is push shaft mechanism 117,408 right end of first round tooth shaft is equally fixedly installed push shaft mechanism 117, so as to by the column spinner
313 rotation is converted into the rotation of the push shaft mechanism 117, improves the operation flexibility of mobile robot.
Valuably, wherein, the push shaft mechanism 117 includes：Push shaft case 501, push shaft change 502, push away interior spiral reel 503
Axle box cavity volume 504, helical hole 505, reduction box 506, the active gear teeth 507, the driven gear teeth 508, reduction box cavity volume 509, reduction box
Electric drive machine 510, helical block 511, optical axis 512, endoporus block 513, fixture block 514 are provided with push shaft case cavity volume in the push shaft case 501
504, the 504 upper and lower side inner wall of push shaft case cavity volume is fixedly installed two groups of push shaft changes 502, can in the push shaft change 502
Rotation is provided with interior spiral reel 503, and helical hole 505, the helical hole 505 and helical are provided in the interior spiral reel 503
The cooperation linking of 511 helical of block, 511 upper end of helical block are fixedly installed optical axis 512, and the optical axis 512 movably runs through
The helical hole 505,504 upper end inner wall of push shaft case cavity volume are connected with 513 secure fit of endoporus block, the optical axis 512 with it is described
Fixture block 514 is slidably connected, and the 501 right-end openings position of push shaft case is fixedly installed reduction box 506, the reduction box
Reduction box cavity volume 509 is provided in 506,506 upper surface of reduction box is fixedly installed reduction box electricity drive machine 510, described to subtract
The line shaft of fast case electricity drive machine 510 is rotatable to match somebody with somebody through the 509 upper end inner wall of reduction box cavity volume and the fixation of the active gear teeth 507
Linking is closed, the active gear teeth 507 are connected with driven 508 tooth form of the gear teeth cooperation.
Valuably, wherein, the rushing board mechanism 118 includes：L-type plate 601, vertical block 602, push plate optical axis 603, push plate 604,
Push-jump optical axis 605, push shaft mechanism 117, the 601 upper surface left-hand portion of L-type plate are symmetrically fixedly installed two groups and found block 602,
602 upper end of vertical block is rotatable to be provided with push plate optical axis 603,603 outer ring of push plate optical axis and 604 right side lower end of push plate
Linking is fixed at position, and the 604 right side upper-end part of driving of push plate is fixedly installed push-jump optical axis 605, push-jump 605 outer ring of optical axis
Rotatable to be provided with endoporus block 513,513 right end of endoporus block is fixedly installed push shaft mechanism 117, the push shaft mechanism
117 are fixedly installed on 601 right side upper-end part of driving of L-type plate.
For car body 114 in apparatus of the present invention in original state, the axis 112 of wearing is rotatably arranged on the car body
114 lower end pillars, it is described wear axis 112 it is rotatable through front and rear symmetrically arranged preceding wheel plate 111, car body described in rear wheel plate 102
114 are used as frame to support entire mobile robot, and the preceding 111 left back end of wheel plate is rotatable to be provided with front driven wheel 110,
111 right rear end of preceding wheel plate is rotatable to be provided with preceding driving wheel 109, and the preceding driving wheel 109 runs through the preceding wheel plate 111
It is connected with the cooperation of actuating unit 108, the front driven wheel 110, preceding driving wheel 109 are connected by 107 rotatable engagement of crawler belt, described
102 right rear end of wheel plate is rotatable afterwards is provided with back front driven wheel 105, it is described after 102 left back end of wheel plate is rotatable be provided with after
Driving wheel 106, the rear main wheel 106 are connected through the rear wheel plate 102 with the cooperation of actuating unit 108, the back front driven wheel
105th, rear main wheel 106 is connected by 107 rotatable engagement of crawler belt, and 114 upper end of car body is fixedly installed rotating mechanism 115,
115 upper end of rotating mechanism is fixedly installed swing mechanism 116, and 116 left and right sides of swing mechanism is symmetrically fixedly installed
Push shaft mechanism 117,117 upper end of push shaft mechanism are fixedly installed rushing board mechanism 118,.
In use, the actuating unit 108 works, mobile robot is driven to move, when needing to carry out goods movement, control
It makes the rotating mechanism 115 makes partly to be rotated on trolley and push shaft mechanism 117 is swung up and down, makes when cargo is distant,
Control the push shaft mechanism 117 is flexible to make the rushing board mechanism 118 that can freely overturn to pick and place cargo.
When starting mobile robot, the power electric, which drives 201 line shaft of machine, drives the active force gear teeth 205 to rotate,
It is also rotated with the slave power wheel tooth 206 of 205 tooth form of active force gear teeth cooperation, it is described from power wheel tooth 206 and the rear master
Linking is fixed in 106 front end of driving wheel, and the rear main wheel 106 also rotates with, the active force sprocket wheel 207 and the rear main wheel
Linking is fixed in 106 front ends, and the active force sprocket wheel 207 is connected by chain 209 with from 208 rotatable engagement of power chain, described
It is connected from power chain 208 with preceding 109 secure fit of driving wheel, the rotation of the rear main wheel 106 has been transferred to institute
It states from power chain 208, preceding driving wheel 109.
When mobile robot top half needs rotation, the electric rotating drives the work of machine 303 and drives described first
Active synchronization belt wheel 304 is rotated, and the first active synchronization belt wheel 304 is passive same by the first synchronous belt 305 and first
The linking of 306 rotatable engagement of belt wheel is walked, then the described first passive and synchronous belt wheel 306 is also rotated, the first passive and synchronous band
It takes turns 306 upper ends with the 311 lower end secure fit of rotary body to be connected, then the rotary body 311 is also rotated, the rotary body
311 upper ends are connected with the 116 lower end secure fit of swing mechanism, then the swing mechanism 116 is also rotated.
When mobile robot needs to carry out angular adjustment according to cargo height, electric 309 work of drive machine of swing is driven
The second active synchronization belt wheel 308 rotates, and the second active synchronization belt wheel 308 passes through the first synchronous belt 305 and the second quilt
The 307 rotatable engagement linking of dynamic synchronous pulley, then the described second passive and synchronous belt wheel 307 is also rotated.Described second is passive same
Step 307 upper end of belt wheel is connected with 313 secure fit of column spinner, then the column spinner 313 is also rotated, the column spinner
313 upper ends are connected with 406 secure fit of the first cone pulley tooth, the first cone pulley tooth 406 and 405 tooth of the second cone pulley tooth
Shape cooperation linking, then the first cone pulley tooth 406, the second cone pulley tooth 405 are also rotated, the second cone pulley tooth 405 and institute
The linking of 404 secure fit of the second wheel tooth shaft is stated, second wheel 404 left end of tooth shaft is held in the mouth with 117 secure fit of push shaft mechanism
It connects, the second wheel 404 right end of tooth shaft is connected with 407 secure fit of shaft coupling, 407 right end of shaft coupling and described the
One wheel tooth shaft 408 secure fit linking, 408 right end of first round tooth shaft are connected with 117 secure fit of push shaft mechanism, then
The push shaft mechanism 117 is also rotated.
When mobile robot need when picking and placeing cargo more at a distance, the reduction box electricity drive machine in the push shaft mechanism 117
510 work, drive the active gear teeth 507 to rotate, and the active gear teeth 507 are connected with the cooperation of driven 508 tooth form of the gear teeth, then institute
It states the driven gear teeth 508 also to be rotated, the driven gear teeth 508 are connected with interior 503 secure fit of spiral reel, then described interior
Spiral reel 503 is also rotated, and helical hole 505, the helical hole 505 and helical block 511 are provided in the interior spiral reel 503
Helical cooperation linking, and the optical axis 512 limits the optical axis 512 with the fixture block 514 sliding connection and rotates, then
By the translating rotation of the interior spiral reel 503 moving up and down for the helical block 511,511 upper end of helical block is fixed and is set
Optical axis 512 is equipped with, then the optical axis 512 also moves up and down, and 512 upper end of optical axis is fixedly installed endoporus block 513, institute
It states in endoporus block 513 and is provided with mobile cavity, available for mobile cooperation linking.
When mobile robot is when picking and placeing cargo, the push shaft mechanism 117 in the rushing board mechanism 118 stretches, and drives
The push-jump optical axis 605 being connected with 513 rotatable engagement of endoporus block moves back and forth, and the push-jump optical axis 605 is fixed with the push plate 604
Cooperation linking, the push plate 604 are connected with 603 rotatable engagement of push plate optical axis, and the push plate optical axis 603 is matched somebody with somebody with the fixation of vertical block 602
Close linking, then when the push-jump optical axis 605 moves back and forth, make under the action of the push plate optical axis 603 push plate 604 into
Row is swung.
The beneficial effects of the invention are as follows：Car body in apparatus of the present invention is described to wear that axis is rotatable to be set in original state
It is placed in car body lower end pillar, described to wear axis rotatable through car body described in front and rear symmetrically arranged preceding wheel plate, rear wheel plate
Entire mobile robot is supported as frame, the preceding left back end of wheel plate is rotatable to be provided with front driven wheel, the front-wheel
Plate right rear end is rotatable to be provided with preceding driving wheel, and the preceding driving wheel is connected through the preceding wheel plate with actuating unit cooperation,
The front driven wheel, preceding driving wheel are connected by crawler belt rotatable engagement, it is described after wheel plate right rear end is rotatable be provided with after from
Driving wheel, the rear left back end of wheel plate is rotatable to be provided with rear main wheel, and the rear main wheel is through the rear wheel plate and power
Mechanism cooperation linking, the back front driven wheel, rear main wheel are connected by crawler belt rotatable engagement, and the car body upper end is fixedly installed
Rotating mechanism, the rotating mechanism upper end are fixedly installed swing mechanism, and the swing mechanism left and right sides is symmetrically fixedly installed
Push shaft mechanism, push shaft mechanism upper end are fixedly installed rushing board mechanism, and so as to form entire mobile robot, different structure carries
The flexibility of Gao Liao robots and ease of use.
In use, the actuating unit work, drives mobile robot to move, and when needing to carry out goods movement, control
The rotating mechanism makes partly to be rotated on trolley and push shaft mechanism is swung up and down, and makes when cargo is distant, described in control
Push shaft mechanism stretches and makes the rushing board mechanism that can freely overturn to pick and place cargo, so that mobile robot has efficient picking
Mobile efficiency.
When starting mobile robot, the power electric, which drives mechanomotive force axis, drives the main power wheel tooth spiral to turn, with active
The slave power wheel tooth of wheels tooth tooth form cooperation also rotates with, and described fixed from power wheel tooth and the rear main wheel front end is held in the mouth
It connects, the rear main wheel also rotates with, and the active force sprocket wheel is fixed with the rear main wheel front end to be connected, the active force
Sprocket wheel is connected by chain with from power chain rotatable engagement, described to be held in the mouth from power chain and the preceding driving wheel secure fit
Connect, the rotation of the rear main wheel be transferred to it is described from power chain, preceding driving wheel so that mobile robot possess it is excellent
Elegant walking function.
When mobile robot top half needs rotation, the electric rotating drives machine work and drives described first actively
Synchronous pulley is rotated, and the first active synchronization belt wheel passes through the first synchronous belt and the first passive and synchronous belt wheel rotatable engagement
Linking, then the described first passive and synchronous belt wheel is also rotated, under the first passive and synchronous belt wheel upper end and the rotary body
Secure fit linking is held, then the rotary body is also rotated, and the rotary body upper end is fixed with the swing mechanism lower end matches somebody with somebody
Linking is closed, then the swing mechanism is also rotated, so that mobile robot has the function of rotation, improves work model
It encloses.
When mobile robot needs to carry out angular adjustment according to cargo height, the electric drive machine work of swing is driven described
Second active synchronization belt wheel rotates, and the second active synchronization belt wheel is rotated by the first synchronous belt and the second passive and synchronous belt wheel
Cooperation linking, then the described second passive and synchronous belt wheel is also rotated.The second passive and synchronous belt wheel upper end and the rotation
Column secure fit is connected, then the column spinner is also rotated, the column spinner upper end and the first cone pulley tooth secure fit
Linking, the first cone pulley tooth are connected with the second cone pulley tooth tooth form cooperation, then the first cone pulley tooth, the second cone pulley tooth
Rotated, the second cone pulley tooth with described second wheel tooth shaft secure fit be connected, it is described second take turns tooth shaft left end with it is described
The secure fit linking of push shaft mechanism, the second wheel tooth shaft right end are connected with the shaft coupling secure fit, and the shaft coupling is right
End is connected with the first round tooth shaft secure fit, and the first round tooth shaft right end is connected with push shaft mechanism secure fit,
Then the push shaft mechanism is also rotated, it is achieved thereby that the function that mobile robot is adjusted according to cargo height, improves work
Make scope, and with good mobility.
When mobile robot need when picking and placeing cargo more at a distance, the push shaft reduction box electricity drive machine work within the organization
Make, the driving wheel tooth spiral driven to turn, the active gear teeth and driven gear teeth tooth form coordinate and are connected, then the driven gear teeth also into
Row rotation, the driven gear teeth are connected with the interior spiral reel secure fit, then the interior spiral reel is also rotated, described interior
Helical hole is provided in spiral reel, the helical hole is connected with the cooperation of helical block helical, and the optical axis is slided with the fixture block
It is connected and limits the optical axis and rotate, then by the translating rotation of the interior spiral reel to be moved down on the helical block
Dynamic, the helical block upper end is fixedly installed optical axis, then the optical axis also moves up and down, the optical axis upper end fixed setting
Have endoporus block, mobile cavity be provided in the endoporus block, available for mobile cooperation linking so that mobile robot can compared with
Cargo is picked and placeed at a distance, improves convenience.
When mobile robot is when picking and placeing cargo, the push shaft mechanism in the rushing board mechanism stretches, and drives and endoporus
The push-jump optical axis of block rotatable engagement linking moves back and forth, and the push-jump optical axis is connected with the push plate secure fit, the push plate
It is connected with the cooperation of push plate optical axis rotation, the push plate optical axis is connected with vertical block secure fit, then is moved before and after the push-jump optical axis
When dynamic, swung the push plate under the action of the push plate optical axis, it is achieved thereby that robot pick and place that cargo makes can be with
Flip angle improves flexibility, has saved the production time.
Apparatus of the present invention are simple in structure, easy to use, using different flexible mechanisms, improve work efficiency and cargo
The accuracy picked and placeed has good power performance.
The above, the specific embodiment only invented, but invent protection domain be not limited thereto, it is any without
The change or replacement that creative work is expected are crossed, should all be covered within the protection domain of invention.Therefore, the protection domain of invention
It should be determined by the scope of protection defined in the claims.
Claims (6)
1. a kind of intelligent plant mobile robot, including be used to support general frame car body and composition general frame it is main
Mechanism, the principal organ include：Actuating unit, rotating mechanism, swing mechanism, push shaft mechanism, rushing board mechanism, the engine
It is connected on the inside of structure right end with rear main wheel rotatable engagement, the rear main wheel is rotatable through symmetrically arranged rear wheel plate, institute
It states and is connected on the inside of rear wheel plate right end with back front driven wheel rotatable engagement, the actuating unit left end inside and preceding driving wheel rotatable engagement
Linking, the preceding driving wheel is rotatable to be revolved on the inside of symmetrically arranged preceding wheel plate, the preceding wheel plate left end with front driven wheel
Turn cooperation linking, the rear main wheel, back front driven wheel outer ring are connected with one group of crawler belt rotatable engagement, the front driven wheel, preceding master
Driving wheel outer ring is connected with another group of crawler belt rotatable engagement, so that the power of the actuating unit has been transferred to the power wheel,
Mobile robot is driven to carry out forward-reverse, car body lower end pillar is rotatable to be provided with two groups and wear axis, described to wear axis point
It is not rotatable to run through rear wheel plate, the preceding wheel plate, so that mobile robot still may be used when running into barrier and adjusting height
To keep the stability of entire frame, the car body upper end is fixedly installed rotating mechanism, and the rotating mechanism upper end is rotatable
Be provided with swing mechanism, the swing mechanism left and right sides is rotatable to be symmetrically arranged with push shaft mechanism, in the push shaft mechanism
It holds and telescopic is provided with rushing board mechanism.
2. a kind of intelligent plant mobile robot as described in claim 1, it is characterised in that：The actuating unit includes power
Electric drive machine, power electric drive machine tablet, headstock, headstock cavity volume, the active force gear teeth, from power wheel tooth, active force sprocket wheel, driven
Riding chain wheel, turn change, the power electric drive machine and are fixedly installed on power electric drive machine tablet front end face, and the power electric drives machine and puts down
Plate rear end face is connected with headstock fixation, and headstock cavity volume is provided in the headstock, and the power electric drives the line shaft of machine
Rotatable to run through the headstock cavity volume front inner wall, the power shaft rear end is connected with the fixation of the active force gear teeth, the master
The power gear teeth are connected with from power wheel tooth tooth form, described to be connected from power wheel tooth with the fixation of rear main wheel front end axis, main after described
The rotatable turn change for being disposed through inner wall on the right side of the headstock cavity volume rear end of driving wheel front end axis, the rear main wheel
Front end axis is fixedly installed active force sprocket wheel, and the active force sprocket wheel is connected by chain with from power chain rotatable engagement, institute
It states and is connected from power chain with the fixation of preceding driving wheel front end axis, the preceding driving wheel front end axis is equally rotatable to be disposed through
The turn change of the headstock cavity volume rear end inner left wall, said mechanism are symmetrically disposed on the mobile robot other end, difference
It is to be fitted without the power electric and drives machine, the active force gear teeth, from power wheel tooth,.
3. a kind of intelligent plant mobile robot as described in claim 1, it is characterised in that：The rotating mechanism includes button
Plate, buckle cavity volume, electric rotating drive machine, the first active synchronization belt wheel, the first synchronous belt, the first passive and synchronous belt wheel, second passively
Synchronous pulley, the second active synchronization belt wheel swing electric drive machine, column spinner change, rotary body, column spinner cavity volume, column spinner, main shaft
Change, the buckle lower end are connected with car body upper end secure fit, and buckle cavity volume, the buckle are provided in the buckle
Upper end left and right sides is fixedly installed electric rotating and drives machine, swings electric drive machine respectively, and the line shaft that the electric rotating drives machine is rotatable
Upper end inner wall through the buckle cavity volume is connected with the first active synchronization belt wheel secure fit, the power for swinging electric drive machine
The rotatable upper end inner wall through the buckle cavity volume of axis is connected with the second active synchronization belt wheel secure fit, and the buckle holds
Chamber upper end inner wall middle part is fixedly installed column spinner change, rotatable in the column spinner change to be provided with rotary body,
The rotary body lower end is connected with the first passive and synchronous belt wheel secure fit, and the first passive and synchronous belt wheel is synchronous by first
Band is connected with the first active synchronization belt wheel rotatable engagement, and a rotating body is provided with column spinner cavity volume, the column spinner
Cavity volume inner wall upper and lower sides are fixedly installed two groups of main shaft changes, rotatable in the main shaft change to be provided with column spinner, described
Column spinner lower end is fixedly installed the second passive and synchronous belt wheel, the second passive and synchronous belt wheel by the second synchronous belt with it is described
Second active synchronization belt wheel rotatable engagement is connected, and the rotary body upper end is connected with the swing mechanism secure fit.
4. a kind of intelligent plant mobile robot as claimed in claim 3, it is characterised in that：The swing mechanism includes：It passes
Dynamic case, transmission case cavity volume, transmission case change, the second wheel tooth shaft, the second cone pulley tooth, the first cone pulley tooth, shaft coupling, first gear teeth
Axis, the transmission case are fixedly installed on the rotary body upper end, transmission case cavity volume, the column spinner are provided in the transmission case
Upper end is rotatable to be connected through the transmission case cavity volume lower end inner wall middle part with the first cone pulley tooth secure fit, the biography
Dynamic case cavity volume left and right sides inner wall is fixedly installed two groups of transmission case changes, rotatable in the transmission case change to be provided with second
Tooth shaft, first round tooth shaft are taken turns, the second wheel tooth shaft, first round tooth shaft are connected by shaft coupling rotatable engagement, second wheel
Tooth shaft outer ring is fixedly installed the second cone pulley tooth, and the second cone pulley tooth is connected with the first cone pulley tooth tooth form cooperation, described
Second wheel tooth shaft left end is fixedly installed push shaft mechanism, and the first round tooth shaft right end is equally fixedly installed push shaft mechanism.
5. a kind of intelligent plant mobile robot as claimed in claim 3, it is characterised in that：The push shaft mechanism includes：It pushes away
Axle box, push shaft change, interior spiral reel, push shaft case cavity volume, helical hole, reduction box, the active gear teeth, the driven gear teeth, reduction box cavity volume,
Reduction box electricity drive machine, helical block, optical axis, endoporus block, fixture block are provided with push shaft case cavity volume, the push shaft case in the push shaft case
Cavity volume upper and lower side inner wall is fixedly installed two groups of push shaft changes, rotatable in the push shaft change to be provided with interior spiral reel, institute
It states and helical hole is provided in interior spiral reel, the helical hole is connected with the cooperation of helical block helical, and the helical block upper end is fixed and set
Optical axis is equipped with, the optical axis is movably held in the mouth through the helical hole, push shaft case cavity volume upper end inner wall and endoporus block secure fit
It connects, the optical axis is slidably connected with the fixture block, and the push shaft case right-end openings position is fixedly installed reduction box, described
Reduction box cavity volume is provided in reduction box, the reduction box upper surface is fixedly installed reduction box electricity drive machine, the reduction box electricity
The line shaft of drive machine is rotatable to be connected through the reduction box cavity volume upper end inner wall with active gear teeth secure fit, the active
The gear teeth are connected with the driven gear teeth tooth form cooperation.
6. a kind of intelligent plant mobile robot as described in claim 1, it is characterised in that：The rushing board mechanism includes：L-type
Plate, vertical block, push plate optical axis, push plate, push-jump optical axis, push shaft mechanism, the L-type plate upper surface left-hand portion are symmetrically fixedly installed
Two groups are found block, and the vertical block upper end is rotatable to be provided with push plate optical axis, the push plate optical axis outer ring and lower end on the right side of push plate
The fixed linking in position, push plate right side upper-end part of driving are fixedly installed push-jump optical axis, and the push-jump optical axis outer ring is rotatable to be set
Endoporus block is equipped with, the endoporus block right end is fixedly installed push shaft mechanism, and the push shaft mechanism is fixedly installed on L-type plate right side
End position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711492230.4A CN108100062B (en) | 2017-12-30 | 2017-12-30 | A kind of intelligent plant mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711492230.4A CN108100062B (en) | 2017-12-30 | 2017-12-30 | A kind of intelligent plant mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108100062A true CN108100062A (en) | 2018-06-01 |
| CN108100062B CN108100062B (en) | 2019-01-15 |
Family
ID=62215481
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711492230.4A Active CN108100062B (en) | 2017-12-30 | 2017-12-30 | A kind of intelligent plant mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108100062B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0632263A (en) * | 1992-07-15 | 1994-02-08 | Tomita Denki Seisakusho:Kk | Legged moving vehicle |
| JP2003019985A (en) * | 2001-07-09 | 2003-01-21 | Tokyo Inst Of Technol | Traveling device |
| US20080093131A1 (en) * | 2006-10-06 | 2008-04-24 | Irobot Corporation | Robotic Vehicle |
| US20100155156A1 (en) * | 2008-11-04 | 2010-06-24 | Robotic Technology Inc. | Energetically autonomous tactical robot and associated methodology of operation |
| US20120199407A1 (en) * | 2008-12-09 | 2012-08-09 | Irobot Corporation | Mobile Robot Systems and Methods |
| CN105059411A (en) * | 2015-07-24 | 2015-11-18 | 徐继文 | Loaded logistics transportation robot |
| CN105480905A (en) * | 2016-01-06 | 2016-04-13 | 潘玲玉 | Push device driven by sheave |
-
2017
- 2017-12-30 CN CN201711492230.4A patent/CN108100062B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0632263A (en) * | 1992-07-15 | 1994-02-08 | Tomita Denki Seisakusho:Kk | Legged moving vehicle |
| JP2003019985A (en) * | 2001-07-09 | 2003-01-21 | Tokyo Inst Of Technol | Traveling device |
| US20080093131A1 (en) * | 2006-10-06 | 2008-04-24 | Irobot Corporation | Robotic Vehicle |
| US20100155156A1 (en) * | 2008-11-04 | 2010-06-24 | Robotic Technology Inc. | Energetically autonomous tactical robot and associated methodology of operation |
| US20120199407A1 (en) * | 2008-12-09 | 2012-08-09 | Irobot Corporation | Mobile Robot Systems and Methods |
| CN105059411A (en) * | 2015-07-24 | 2015-11-18 | 徐继文 | Loaded logistics transportation robot |
| CN105480905A (en) * | 2016-01-06 | 2016-04-13 | 潘玲玉 | Push device driven by sheave |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108100062B (en) | 2019-01-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208710183U (en) | A kind of mute upper limb artificial hand structure of novel myoelectricity | |
| CN108100062A (en) | A kind of intelligent plant mobile robot | |
| CN208614783U (en) | A kind of multi-functional carrying robot device | |
| CN108098792A (en) | A kind of novel intelligent factory mobile robot | |
| CN107901071A (en) | A kind of robot it is dedicated rotatable and can be anti-skidding manipulator | |
| CN100409736C (en) | Differential driving sprit transplanting mechanism of step rice transplanter | |
| CN109131614A (en) | A kind of modified intelligent plant mobile robot | |
| CN106424514A (en) | Hot upsetting-extruding feeding manipulator | |
| CN201792339U (en) | Centralized rear transmission multi-joint robot | |
| CN209076005U (en) | A kind of doll machine day mechanism of car convenient for multi-angle regulation gripper | |
| CN109220111B (en) | Transplanting mechanism for large-swing second-order non-circular gear planetary gear train | |
| CN107984483B (en) | A kind of transposition machine device people | |
| CN2396615Y (en) | Crank rocker planetary system seedling separating and transplanting mechanism | |
| CN107842186A (en) | One kind finishing sturdy device of land used brick wall brick | |
| CN108436901A (en) | A kind of robot arm equipment | |
| CN210183176U (en) | Transmission device of large-caliber hose circular weaving machine | |
| CN207612590U (en) | Reply type dig reservoir device | |
| CN106639115A (en) | Movable ceiling | |
| CN206386458U (en) | A kind of gearbox | |
| CN206017613U (en) | Socks shaping modular system drive pole device | |
| CN108771413A (en) | A kind of intelligent interconnection net type vase | |
| CN206620434U (en) | Raising rice seedlings electric remote control drag links | |
| CN108187318A (en) | A kind of ball transfer robot | |
| CN214083716U (en) | Robot walking device | |
| CN209492958U (en) | A kind of Production of bearing processing horizontal transport structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181129 Address after: 225123 No. 139 Qiquan Road, Ganquan Street, Hangjiang District, Yangzhou City, Jiangsu Province Applicant after: Yangzhou Xingli Machinery Manufacturing Co., Ltd. Address before: No. 1 Xinhe Industrial Park, Hanchuan Economic and Technological Development Zone, Xiaogan City, Hubei Province, 432000 Applicant before: Mao Linjie |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 225123 No. 139 Qiquan Road, Ganquan Street, Hangjiang District, Yangzhou City, Jiangsu Province Patentee after: Jiangsu Xingli Forging Machine Tool Co.,Ltd. Address before: 225123 No. 139 Qiquan Road, Ganquan Street, Hangjiang District, Yangzhou City, Jiangsu Province Patentee before: YANGZHOU STAR MACHINERY MANUFACTURING CO.,LTD. |