CN108466250B - Double-wheel distribution robot - Google Patents
Double-wheel distribution robot Download PDFInfo
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- CN108466250B CN108466250B CN201810139494.XA CN201810139494A CN108466250B CN 108466250 B CN108466250 B CN 108466250B CN 201810139494 A CN201810139494 A CN 201810139494A CN 108466250 B CN108466250 B CN 108466250B
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- 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
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- 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
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- 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
- B25J19/0008—Balancing devices
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- 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
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Abstract
The double-wheel distribution robot comprises a robot main body and two wheels, wherein a storage box for containing distributed articles is arranged in the robot main body; the control moment gyro device comprises two control moment gyros, a deflection motor for controlling the gyros to actively deflect, and a reverse synchronization mechanism for controlling the two gyros to have the same deflection speed but opposite deflection directions; the robot main body is provided with wheel shafts, and the main driving module is connected with the wheel shafts by a transmission mechanism so that the robot main body can rotate around the wheel shafts at the two ends of the robot main body; when the main driving module drives, the wheels are driven to rotate around the wheel shafts, or the robot main body is driven to rotate around the wheel shafts, and then all parts arranged on the robot main body and the parts on the robot main body are driven to tilt forwards or backwards, so that gravity moment is generated to enable the gyro to naturally deflect and generate gyro moment, and/or the deflection motor is controlled to drive the gyro to enable the gyro to actively deflect and generate gyro moment, so that the posture balance and obstacle crossing capability of the double-wheel distribution robot in the motion process are greatly improved, and the double-wheel distribution robot can be suitable for various working conditions.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a double-wheel distribution robot.
Background
The four-wheel distribution robot in the prior art has large turning radius, large occupied space and complex structure. The double-wheel distribution robot in the prior art has poor external force impact bumping resistance and obstacle crossing capability, generally can only walk on a plane, and is easy to lose balance when disturbed by external force.
Disclosure of Invention
The technical problem underlying the present invention is to avoid the drawbacks of the prior art mentioned above and to propose a two-wheeled dispensing robot equipped with a control moment gyro device. The technical scheme for solving the technical problems is that the double-wheel delivery robot comprises a robot main body and two wheels, wherein the robot main body comprises a trunk module, a control moment gyro device and a main driving module for driving, and a storage box for containing delivered articles is arranged in the trunk module; the control moment gyro device comprises two control moment gyros, a deflection motor for controlling the gyros to actively deflect and a reverse synchronization mechanism for controlling the two control moment gyros to have the same deflection speed but opposite deflection directions; the two sides or the lower part of the robot main body are provided with wheel shafts, and the main driving module is connected with the wheel shafts by a transmission mechanism; when the main driving module drives, the transmission mechanism drives the wheels to rotate around the wheel shafts; or the robot main body is driven to rotate around the wheel axle through the transmission mechanism, and then all parts arranged in and on the robot main body are driven to tilt forwards or backwards, namely all parts in and on the robot main body are driven to tilt forwards or backwards relative to the wheel axle; the gravity moment generated by the forward tilting or backward tilting of the robot body enables the gyro to naturally deflect to generate a gyro moment, and/or the gyro moment generated by controlling the deflection motor to drive the gyro to actively deflect is used for controlling the balance and the motion of the double-wheel distribution robot.
The main driving module comprises a first chassis and a second chassis; the first chassis and the second chassis are respectively provided with a driving motor and a transmission mechanism thereof.
The main driving module also comprises a bracket for supporting the trunk module and the control moment gyro device, and the bracket is enclosed by two supporting beams and two connecting beams to form an open space for accommodating the control moment gyro device; one end part of each of the two connecting beams is respectively bridged on one end part of each of the two supporting beams; the ends of the two connecting beams together support the torso module.
The two support beams are arched sinking beams; the two connecting beams and the two supporting beams form an open accommodating space with a trapezoidal cross section for accommodating the control moment gyro device.
The double-wheel distribution robot further comprises two shock absorbers; one ends of the two shock absorbers are respectively connected with the two connecting beams; the other ends of the two shock absorbers are respectively connected with the first chassis and the second chassis.
The torso module comprises four torso support posts; the four trunk supporting columns are respectively fixed on one end part of each of the two connecting beams.
The torso module further comprises a first support plate for supporting a storage bin; the first supporting plate is fixedly connected with the four trunk supporting columns; the storage box is fixed on the first supporting plate.
The torso module further comprises a second support panel for supporting; the second supporting plate is fixedly connected with the four trunk supporting columns.
A battery for supplying power to the robot is arranged above the second supporting plate; the control moment gyro device is arranged below the second supporting plate; the reverse synchronizing mechanism is fixed on the lower bottom surface of the second supporting plate.
The double-wheel delivery robot further comprises two mechanical arms for executing actions, and the two mechanical arms are respectively arranged on two sides of the trunk module; the mechanical arm comprises a shoulder joint, a big arm, an elbow joint, a small arm, a wrist joint and an end effector which are sequentially and movably connected; the mechanical arm is connected with the trunk module through a shoulder joint; the end effector comprises a first clamping part and a second clamping part, and an end executing motor used for driving the first clamping part and the second clamping part to move is arranged in the end effector.
The double-wheel distribution robot further comprises a head module for mounting a sensor, and the head module is arranged at the top of the trunk module; the torso module comprises a third support plate, a fourth support plate and a fifth support plate; two ends of the third supporting plate and the fourth supporting plate are respectively fixed on the upper part of the trunk module; two ends of a fifth supporting plate are fixedly connected with the third supporting plate and the fourth supporting plate respectively; and a head supporting seat is arranged on the fifth supporting plate, is connected with the head module and supports the head module.
The head module is also internally provided with a head supporting chassis made of carbon fiber materials, a head steering control mechanism and a head supporting column made of carbon fiber materials; the head support column is fixedly connected with the head support seat; the head supporting chassis is used for supporting all parts in the head module; the head steering control mechanism comprises a steering engine and a steering engine mounting rack; the steering engine is fixedly connected with the steering engine mounting frame, the steering engine mounting frame is fixedly connected with the head support column, and a steering wheel disc of the steering engine is fixedly connected with the head support chassis; the steering engine drives the head supporting chassis to rotate through the steering wheel, and the head supporting chassis drives the whole head module to rotate.
The head module further comprises a head pitch control mechanism; the head pitch control mechanism comprises a head support column pipe clamp and a pitch motor for driving head pitch motion; the pitching motor is fixed on the head support seat through a pitching motor support frame; the proximal end part of the head support column is clamped by two side parts of the head support column pipe clamp, so that the head support column is sleeved and fixed on the head support column pipe clamp; an expansion sleeve is fixed at the lower part of the pipe clamp of the head support column, and the expansion sleeve is fixedly connected with an output shaft of the pitching motor through expansion; an output shaft of the pitching motor drives the head support column pipe clamp to rotate, so that the head ring support column is driven to rotate, and pitching motion of the head module is achieved.
Compared with the prior art, the invention has the beneficial effects that: the control moment gyro device greatly improves the attitude balance capability and obstacle crossing capability of the double-wheel delivery robot, greatly improves the bumping resistance and external force impact resistance of the robot during walking, can be suitable for more complex working condition environments, such as obstacle crossing and slope climbing and complex terrain walking, and effectively improves the safety and reliability of the article delivery process.
Drawings
FIG. 1 is one of the schematic axonometric views of one of the preferred embodiments of the invention;
FIG. 2 is a second schematic isometric view of a preferred embodiment of the present invention, showing only some of the modules;
FIG. 3 is a third schematic isometric view of a preferred embodiment of the present invention, showing only the torso module 600 and the head module 100;
FIG. 4 is an enlarged partial schematic view of portion A of FIG. 3;
fig. 5 is a schematic structural view of the head module 100 after a partial cover is removed;
fig. 6 is a schematic sectional enlarged view of the connection relationship of the head steering control mechanism 150 and the head pitch control mechanism 160;
FIG. 7 is an isometric projection view of the robotic arm 200;
FIG. 8 is a front perspective schematic view of the robotic arm 200;
fig. 9 is a front perspective top view schematic diagram of the shoulder joint 210.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a preferred embodiment of the two-wheeled delivery robot includes a robot body and two wheels 400, wherein the robot body includes a trunk module 600 and a main driving module 800 for driving, a storage box 300 for accommodating delivered articles is disposed inside the trunk module 600, and a control moment gyro device 500 is disposed between the storage box 300 and the main driving module 800; the control moment gyro device 500 comprises two control moment gyros 510, a yaw motor for controlling the gyros to actively deflect, and a reverse synchronization mechanism 520 for controlling the two control moment gyros 510 to have the same yaw speed but opposite yaw directions; the robot body is provided with wheel shafts on both sides, and the main driving module 800 is connected with the wheel shafts by a transmission mechanism; when the main driving module 800 is driven, the wheels are driven to rotate around the wheel shafts through the transmission mechanism, or the robot main body is driven to rotate around the wheel shafts through the transmission mechanism, so that all parts arranged in and on the robot main body are driven to tilt forward or backward, that is, all parts in and on the robot main body are driven to tilt forward or backward relative to the wheel shafts; the gravity moment generated by the forward tilting or backward tilting of the robot main body enables the gyro to naturally deflect to generate a gyro moment, and the gyro moment generated by controlling the deflection motor to drive the gyro to actively deflect is used for balance and motion control of the double-wheel distribution robot. Compared with the prior art, the invention has the beneficial effects that: the control moment gyro device greatly improves the attitude balance capability and obstacle crossing capability of the double-wheel delivery robot, greatly improves the bumping resistance and external force impact resistance of the robot during walking, can be suitable for more complex working condition environments, such as obstacle crossing and slope climbing and complex terrain walking, and effectively improves the safety and reliability of the article delivery process.
The two sides or the lower part of the robot main body are provided with wheel shafts; a wheel shaft may be provided on the main driving module 800, and a wheel shaft, which is a node where wheels are connected to the robot main body, may be provided on the body module 600. Under some working conditions, usually in a free-running state, the main driving module 800 drives the wheels to rotate relative to the robot main body; in other conditions, typically in preparation for obstacle crossing or during obstacle crossing, the main driving module 800 drives the robot body to rotate relative to the wheel axle or the wheel axle, and obtains corresponding characteristic gravitational moment for balance and motion control of the two-wheel distribution robot. The balance and motion control of the double-wheel distribution robot comprises gravity center balance control, acceleration control or deceleration control in obstacle crossing and free motion processes.
In the embodiment shown in fig. 1, the storage compartment 300 is disposed at an upper interior location of the torso module 600; the torso module 600 is disposed above the main drive module 800; the control moment gyro device 500 is disposed between the storage box 300 and the main driving module 800; the main driving module 800 is connected with and drives two wheels 400; the two control moment gyros 510 are symmetrically arranged below the reverse synchronizing mechanism 520; one end of each control moment gyro 510 is connected with the reverse synchronization mechanism 520, and the other end of each control moment gyro 510 is connected with the main driving module 800; the reverse synchronization mechanism 520 is fixedly connected with the trunk module 600; the reverse synchronizing mechanism 520 is disposed under the storage compartment 300.
In the embodiment shown in fig. 2, the primary drive module 800 includes a first chassis 810 and a second chassis 820; the first chassis 810 and the second chassis 820 are respectively provided with a driving motor and a transmission mechanism thereof. The first chassis 810 is provided with a first driving motor 811 and a first transmission mechanism 812; the first transmission mechanism 812 is connected with the first wheel 410, outputs the kinetic energy output by the first driving motor 811 to the first wheel 410, and drives the first wheel 410 to rotate; a second driving motor 821 and a second transmission mechanism 822 are arranged on the second chassis 820; the second transmission 822 is connected to the second wheel 420, and outputs the kinetic energy output from the second drive motor 821 to the second wheel 420 to rotate the second wheel 420. Compared with the prior art, the invention has the further beneficial effects that: double round independent drive of double round delivery robot for double round delivery robot flexibility improves greatly, can realize zero radius turn, and relative four rounds of robot occupation space is littleer, and the structure is simpler.
In the embodiment shown in fig. 2, the main driving module 800 further includes a support for supporting the torso module 600 and the control moment gyro device 500, and the support is enclosed by two supporting beams 830 and two connecting beams 840 to form an open accommodating space with a trapezoidal cross section for accommodating the control moment gyro device 500; both ends of any one of the connecting beams 840 are connected with one end of each of the two support beams 830; the two respective ends of the two connecting beams 840 collectively support the torso module 600.
In the embodiment shown in fig. 2, two of the support beams 830 are arched sinking beams and are arranged in parallel, and two of the connecting beams 840 are also arranged in parallel; each of the support beams 830 includes a support base 832 and two support arms 831; the two supporting arms 831 are fixedly connected with the supporting base 832, and the two supporting arms 831 respectively extend upwards from two end parts of the supporting base 832 to form a transverse arched sunken supporting beam 830; each of the connecting beams 840 includes a supporting top 842 and two supporting legs 841; the two supporting legs 841 are fixedly connected with the supporting top 842, and the two supporting legs 841 extend downwards from two end parts of the supporting top 842 to form a connecting beam 840 with a trapezoidal or open-ended inverted U-shaped longitudinal section; both ends of any one of the connecting beams 840 are connected with one end of each of the two support beams 830; so that the two connecting beams 840 and the two support beams 830 are connected to collectively support the torso module 600 and the control moment gyro device 500; the two supporting bases 832 are respectively connected with one end of each of the two control moment gyros to support the control moment gyro device 500 together; the arched structure of the supporting beams 830 enables the two supporting beams 830 and the two connecting beams 840 to form an open accommodating space with an open U-shaped or trapezoidal cross section, and is particularly suitable for accommodating the two control moment gyros 510, so that the control moment gyros can freely rotate in the space.
In the embodiment shown in fig. 1 and 3, the torso module 600 includes four torso support posts 680; the four trunk supporting columns 680 are respectively fixed on each end of the two connecting beams 840 through corresponding four trunk column fixing structures 681; one ends of the two control moment gyros 510 are connected to the two support bases 832, respectively. In the embodiment shown in fig. 5, the torso module 600 further comprises a first support plate 610 and a second support plate 620; the first supporting plate 610 is respectively sleeved on the four trunk supporting columns 680 through four through holes arranged at four corners to realize the fixation of the first supporting plate 610; the storage box 300 is fixed on the first supporting plate 610; four second supporting structures 682 are respectively arranged on the four trunk supporting columns 680, and are used for supporting the second supporting plate 620 and fixedly connecting the second supporting plate 620 with the four trunk supporting columns 680; a battery is arranged above the second support plate 620; the control moment gyro device 500 is disposed under the second support plate 620; the reverse synchronizing mechanism 520 is fixed to a lower bottom surface of the second support plate 620.
In the embodiment of the dual wheel dispensing robot shown in fig. 2, two shock absorbers 870 are further included; one ends of the two dampers 870 are connected to the two connection beams 840, respectively; the other ends of the two dampers 870 are connected to the first chassis 810 and the second chassis 820, respectively. Both ends of each shock absorber 870 are movably connected. Compared with the prior art, the invention has the further beneficial effects that: the setting of bumper shock absorber has further improved the ability that the anti external force vibrations of double round delivery robot disturbed, and the article delivery in-process has effectively reduced the influence of various external forces to delivery article in robot and the storage tank.
In the embodiment of the two-wheeled dispensing robot shown in fig. 1, 7 and 8, two robot arms 200 with five degrees of freedom of movement for performing the motion are further included, and the two robot arms 200 are respectively disposed at both sides of the torso module 600; the mechanical arm 200 comprises a shoulder joint 210, a big arm 220, an elbow joint 230, a small arm 240, a wrist joint 250 and an end effector 260 which are sequentially and movably connected; the robotic arm 200 is connected to the torso module 600 by a shoulder joint 210; one end of the shoulder joint 210 is connected to the ends of the third support plate 630 and the fourth support plate 640, or one end of the shoulder joint 210 is connected to the upper ends of the two torso support posts 680.
As shown in fig. 8, two first motors 211 of the mechanical arms and a differential gear set 213 are arranged inside the shoulder joint 210 for driving the shoulder joint and the large arm, and the two first motors 211 of the mechanical arms realize the rotation driving of the large arm 220 and the rotation driving of the shoulder joint through the differential gear set 213; the opening and closing angle of the shoulder joint 210 relative to the transverse central axis of the shoulder joint 210 is-90-0 degrees, and when the opening and closing angle is 0 degree, the axis of an output shaft connected with the shoulder joint 210 and the large arm 220 is parallel to the transverse central axis of the shoulder joint 210; when the opening angle is-90 degrees, the axis of the output shaft connecting the joint 210 and the big arm 220 is perpendicular to the horizontal middle axis of the shoulder joint 210, and the big arm 220 is positioned above the shoulder joint 210, i.e. the big arm 220 can rotate 90 degrees clockwise relative to the shoulder joint 210.
The position of the large arm 220 which is vertically downward is used as a base position for the rotation movement of the large arm 220, and the rotation angle of the large arm 220 relative to the base position is-45-180 degrees, namely the large arm 220 can rotate 45 degrees clockwise relative to the base position, and the large arm 220 can also rotate 180 degrees counterclockwise relative to the base position. The shoulder joint 210 and the large arm 220 can each achieve one degree of freedom of motion.
As shown in fig. 7 to 8, a second motor for driving the elbow joint is further disposed inside the shoulder joint 210, and the second motor drives a synchronous elbow joint transmission belt 222, and drives an elbow joint 230 to rotate through the synchronous elbow joint transmission belt 222; the position of the elbow joint 230 facing downwards vertically is used as a basic position of the elbow joint 230 for the rotation motion, the rotation angle range of the elbow joint 230 relative to the basic position is 0-120 degrees, namely the elbow joint 230 can rotate 120 degrees counterclockwise relative to the basic position.
Driving motors for controlling respective motion driving are respectively arranged in the small arm 240, the wrist joint 250 and the end effector 260; the position of the small arm 240 facing vertically downwards is used as a base position of the rotation movement of the small arm 240, and the rotation angle range of the small arm 240 relative to the base position is-90 degrees to 45 degrees, namely the small arm 240 can rotate 90 degrees clockwise relative to the base position, and the small arm 240 can also rotate 45 degrees counterclockwise relative to the base position.
The position of the wrist joint 250 which is vertically downward is taken as the basic position of the rotation motion of the wrist joint 250, the rotation angle range of the wrist joint 250 relative to the basic position is-180 degrees to 180 degrees, namely the wrist joint 250 can rotate-180 degrees clockwise relative to the basic position, and the wrist joint 250 can also rotate 180 degrees counterclockwise relative to the basic position.
The elbow joint 230 is a joint having one degree of freedom in motion, the small arm 240 and the wrist joint 250 are also members having one degree of freedom in motion, and the shoulder joint 210 and the large arm 220 can respectively realize motion with one degree of freedom, so that the robot arm has five degrees of freedom in motion.
In the embodiment shown in fig. 7 to 8, the end effector 260 disposed at the end of the robot arm is shaped like a hand grip, and includes a first clamping portion 261 and a second clamping portion 262, and an end effector motor disposed inside the end effector 260 drives the first clamping portion 261 and the second clamping portion 262 to move towards and away from each other, so as to respectively clamp and grab an article or release a grabbed article; thereby enabling the dispensing robot to have a gripping function similar to that of a human hand. The mechanical arm with five freedom degrees of movement can enable the distribution robot to perform actions of opening and closing a door, pressing an elevator, grabbing articles and the like, and can complete complex distribution tasks. Compared with the prior art, the invention has the further beneficial effects that: 3. the multi-degree-of-freedom mechanical arm enables the double-wheel delivery robot to execute complex actions such as door opening and closing, key pressing, grabbing and the like, and further expands the application range of the double-wheel delivery robot. In the embodiment shown in fig. 3, the head module 100 is used for installing a sensor, and the head module 100 is arranged on the top of the body module 600; the torso module 600 includes a third support panel 630, a fourth support panel 640, and a fifth support panel 650; the two ends of the third supporting plate 630 and the fourth supporting plate 640 are respectively fixed on the upper part of the trunk module 600; two ends of the fifth supporting plate 650 are fixedly connected with the third supporting plate 630 and the fourth supporting plate 640, respectively; a head support 670 for supporting the head module 100 is fixed to the fifth support plate 650.
In the embodiment shown in fig. 4, four third supporting and fixing structures 683 are respectively arranged at the ends of the four torso supporting pillars 680 and are used for fixedly connecting the third supporting plate 630, the fourth supporting plate 640 and the torso supporting pillars 680; the third support plate 630 and the fourth support plate 640 are arranged in parallel; the third support plate 630 and the fourth support plate 640 enclose an accommodating space at the upper portion of the trunk module 600, and the space can be used for accommodating a robot arm control device or a head control device of the two-wheel distribution robot.
In the embodiment shown in fig. 4 to 6, a head support chassis 110 for supporting the components in the head module 100, a head steering control mechanism 150, and a head support column 170 made of a carbon fiber material are further provided in the head module 100; head support column 170 and head support base 670 are fixedly connected; the head support chassis 110 is made of carbon fiber material; the head steering control mechanism 150 comprises a steering engine 154 and a steering engine mounting frame 152; the steering engine 154 is fixedly connected with the steering engine mounting rack 152, the steering engine mounting rack 152 is fixedly connected with the head support column 170, and a steering wheel of the steering engine 154 is fixedly connected with the head support chassis 110; the steering engine 154 drives the head support chassis 110 to rotate through the rudder plate, and the head support chassis 110 drives the entire head module 100 to rotate.
In the embodiment shown in fig. 4-6, the head module 100 further includes a head pitch control mechanism 160; the head pitch control mechanism 160 includes a head support post clamp 162 and a pitch motor 165 for head pitch motion drive; the pitching motor 165 is fixed on the head support base 670 through a pitching motor support frame 676; the proximal end of the head support column 170 is clamped by the two sides of the head support column clamp 162, so that the head support column 170 is sleeved and fixed on the head support column clamp 162; an expansion sleeve 163 is fixed at the lower part of the head support column pipe clamp 162, and the expansion sleeve 163 is fixedly connected with an output shaft of the pitching motor 165 through expansion; an output shaft of the pitch motor 165 drives the head support post pipe clamp 162 to rotate, thereby driving the head ring support post 170 to rotate, and realizing the pitch motion of the head module 100.
Compared with the prior art, the invention has the further beneficial effects that: 4. the head can flexibly move, so that the robot can sense the range of information to be further expanded, has good external information collection capability and interacts with the outside based on the information; in conclusion, the double-wheel distribution robot designed by the invention has more and richer applicable working conditions, can realize the walking function in a complex environment, can also finish certain upper limb actions, realizes the large-scale environment information acquisition and man-machine interaction functions through head motion control, is a double-wheel distribution robot with excellent comprehensive performance, and has the capability of independently finishing distribution tasks.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the contents of the specification and the drawings, or applied directly or indirectly to other related technical fields, are included in the scope of the present invention.
Claims (13)
1. A two-wheeled dispensing robot comprising a robot body and two wheels (400), said robot body comprising a torso module (600), a control moment gyro device (500) and a main drive module (800) for driving, characterized in that: a storage box (300) for containing and delivering articles is arranged in the trunk module (600);
the control moment gyro device (500) comprises two control moment gyros (510), a yaw motor for controlling the gyros to actively deflect and a reverse synchronization mechanism (520) for controlling the two control moment gyros (510) to have the same yaw speed but opposite yaw directions;
the two sides or the lower part of the robot main body are provided with wheel shafts, and the main driving module (800) is connected with the wheel shafts by a transmission mechanism; when the main driving module (800) drives, the transmission mechanism drives the wheels to rotate around the wheel shafts; or the robot main body is driven to rotate around the wheel axle through the transmission mechanism, and then all parts arranged in and on the robot main body are driven to tilt forwards or backwards, namely all parts in and on the robot main body are driven to tilt forwards or backwards relative to the wheel axle;
the gravity moment generated by the forward tilting or backward tilting of the robot main body enables the gyro to naturally deflect to generate a gyro moment, and the gyro moment generated by controlling the deflection motor to drive the gyro to actively deflect is used for balance and motion control of the double-wheel distribution robot.
2. The dual wheel dispensing robot of claim 1, wherein:
the primary drive module (800) comprises a first chassis (810) and a second chassis (820); the first chassis (810) and the second chassis (820) are respectively provided with a driving motor and a transmission mechanism thereof.
3. The dual wheel dispensing robot of claim 1, wherein:
the main driving module (800) further comprises a support for supporting the trunk module (600) and the control moment gyro device (500), and the support is surrounded by two supporting beams (830) and two connecting beams (840) to form an open space for accommodating the control moment gyro device (500); one end of each of the two connecting beams (840) is bridged on one end of each of the two support beams (830); the ends of the two connecting beams (840) together support the torso module (600).
4. The dual wheel dispensing robot of claim 3, wherein:
the two support beams (830) are arched sunken beams; the two connecting beams (840) and the two supporting beams (830) are enclosed to form an open accommodating space with a trapezoidal cross section for accommodating the control moment gyro device (500).
5. The dual wheel dispensing robot of claim 3, wherein:
further comprising two shock absorbers (870); one ends of the two shock absorbers (870) are respectively connected with the two connecting beams (840); the other ends of the two shock absorbers (870) are respectively connected with the first chassis (810) and the second chassis (820).
6. The dual wheel dispensing robot of claim 3, wherein:
the torso module (600) includes four torso support posts (680); the four trunk supporting columns (680) are respectively fixed on one end part of each of the two connecting beams (840).
7. The dual wheel dispensing robot of claim 6, wherein:
the torso module (600) further comprises a first support plate (610) for supporting a storage bin (300); the first supporting plate (610) is fixedly connected with four trunk supporting columns (680); the storage box (300) is fixed on the first supporting plate (610).
8. The dual wheel dispensing robot of claim 6, wherein:
the torso module (600) further comprises a second support plate (620) for supporting; the second support plate (620) is fixedly connected with four trunk support columns (680).
9. The dual wheel dispensing robot of claim 8, wherein:
a battery for supplying power to the robot is arranged above the second supporting plate (620); the control moment gyro device (500) is disposed below the second support plate (620); the reverse synchronizing mechanism (520) is fixed on the lower bottom surface of the second support plate (620).
10. The dual wheel dispensing robot of claim 1, wherein:
the robot further comprises two mechanical arms (200) for executing actions, wherein the two mechanical arms (200) are respectively arranged on two sides of the trunk module (600);
the mechanical arm (200) comprises a shoulder joint (210), a big arm (220), an elbow joint (230), a small arm (240), a wrist joint (250) and an end effector (260) which are sequentially and movably connected;
the robotic arm (200) is connected to the torso module (600) by a shoulder joint (210);
the end effector (260) comprises a first clamping part (261) and a second clamping part (262), and an end executing motor used for driving the first clamping part (261) and the second clamping part (262) to move is arranged in the end effector (260).
11. The dual wheel dispensing robot of claim 1, wherein:
further comprising a head module (100) for mounting sensors, the head module (100) being arranged on top of the torso module (600);
the torso module (600) comprises a third support panel (630), a fourth support panel (640), and a fifth support panel (650); the two ends of the third supporting plate (630) and the fourth supporting plate (640) are respectively fixed on the upper part of the trunk module (600); two ends of a fifth supporting plate (650) are respectively fixedly connected with the third supporting plate (630) and the fourth supporting plate (640); a head support base (670) is arranged on the fifth support plate (650), and the head support base (670) is connected with the head module (100) and supports the head module (100).
12. The dual wheel dispensing robot of claim 11, wherein:
the head module (100) is also internally provided with a head supporting chassis (110) made of carbon fiber materials, a head steering control mechanism (150) and a head supporting column (170) made of carbon fiber materials; the head support column (170) is fixedly connected with the head support seat (670);
the head support chassis (110) for supporting components within the head module (100); the head steering control mechanism (150) comprises a steering engine (154) and a steering engine mounting frame (152); the steering engine (154) is fixedly connected with the steering engine mounting rack (152), the steering engine mounting rack (152) is fixedly connected with the head supporting column (170), and a steering wheel of the steering engine (154) is fixedly connected with the head supporting chassis (110); the steering engine (154) drives the head supporting chassis (110) to rotate through the steering wheel, and the head supporting chassis (110) drives the whole head module (100) to rotate.
13. The dual wheel dispensing robot of claim 12, wherein:
the head module (100) further comprises a head pitch control mechanism (160); the head pitch control mechanism (160) comprises a head support post tube clamp (162) and a pitch motor (165) for head pitch motion drive; the pitching motor (165) is fixed on the head support seat (670) through a pitching motor support frame (676); the proximal end part of the head support column (170) is clamped by the two side parts of the head support column pipe clamp (162), so that the head support column (170) is sleeved and fixed on the head support column pipe clamp (162); an expansion sleeve is fixed at the lower part of the head support column pipe clamp (162), and the expansion sleeve is fixedly connected with an output shaft of the pitching motor (165) through expansion; an output shaft of the pitching motor (165) drives the head support column pipe clamp (162) to rotate, so that the head ring support column (170) is driven to rotate, and pitching motion of the head module (100) is achieved.
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| KR20210079300A (en) * | 2018-10-22 | 2021-06-29 | 피아지오 패스트 포워드 인코포레이티드 | Mobile carrier with replaceable cargo |
| CN109483563A (en) * | 2018-11-01 | 2019-03-19 | 华南智能机器人创新研究院 | Robot is transported in a kind of wheeled both arms room |
| CN111216819B (en) * | 2020-02-18 | 2023-12-22 | 浙江大学 | Climbing machine and moving method thereof |
| CN114670243B (en) * | 2022-03-09 | 2024-05-24 | 上海飒智智能科技有限公司 | Mobile robot with anti-overturning function and anti-overturning method |
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