CN109533055A - A kind of leveling transfer robot - Google Patents
A kind of leveling transfer robot Download PDFInfo
- Publication number
- CN109533055A CN109533055A CN201811232245.1A CN201811232245A CN109533055A CN 109533055 A CN109533055 A CN 109533055A CN 201811232245 A CN201811232245 A CN 201811232245A CN 109533055 A CN109533055 A CN 109533055A
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- China
- Prior art keywords
- leveling
- motor
- driving
- transfer robot
- side plate
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of leveling transfer robots, are mainly made of driving mechanism, placement mechanism, micro- sensing unit and control system；Wherein driving mechanism independently drives two crawler belts by different Athey wheels by two driving motors, and driving motor is mounted on the inside of driving mechanism side plate the lateral dimension that can effectively reduce robot, convenient for the movement of robot；Placement mechanism is mounted in tray side panel by rotary shaft, and placement mechanism can be adjusted the angle by leveling motor and keep horizontal；Driving device, clearing apparatus, micro- sensing unit are both connected in control system.The problems such as present invention can stablize stair of creeping, and placement mechanism is made to keep horizontality that can fall to avoid cargo because of inclination.
Description
Technical field
The present invention relates to transfer robot fields, refer specifically to a kind of leveling transfer robot.
Background technique
With the continuous development of science and technology, robot more and more appears in the people visual field, machine man-based development
It is just to aid in the mankind and shares a few thing.Most of house is all elevator room at present, but there is also many lowrise layer houses
There is no elevator with old-fashioned house, carrying on thing in the house of this not elevator is downstairs very inconvenient.For the elderly
For the young man either just to have worked back, carrying thing is the thing for allowing very much people out of strength upstairs.For dispatching
For the worker of cargo, having one to can replace the robot of manual handling cargo upstairs is also that work can be made to become very light
Pine.
Summary of the invention
The object of the present invention is to provide a kind of leveling transfer robots.
The technical solution adopted by the present invention is that:
A kind of leveling transfer robot characterized by comprising driving mechanism, placement mechanism, micro- sensing unit, control
System；
The driving mechanism is by side plate, crawler belt, Athey wheel, transmission shaft, support plate, support plate fixed link, synchronous belt, synchronization
Belt wheel, driving motor, center rest composition；
The placement mechanism by leveling motor, put object basket, rotary shaft, bearing and form.
Further, the driving mechanism passes through different Athey wheels by two driving motors respectively and independently drives two shoes
Band；Support plate is mounted on the inside of crawler belt；Driving motor is mounted on side plate interior sides；The transmission of the motor shaft and Athey wheel of driving motor
Axis is fitted with synchronous pulley and synchronous pulley is by synchronizing band connection, makes the power of driving motor by the side of toothed belt transmission
Formula is transmitted to Athey wheel；The side plate of center rest both ends and two sides is fixed.
Further, the placement mechanism is mounted on the side plate of driving mechanism；Side plate, rotary shaft, puts object at leveling point machine
Basket is sequentially connected；The motor axis connection of rotary shaft one end and leveling motor, the other end are connect with bearing.
Further, the Athey wheel is equipped with 6, and two Athey wheels being connected with driving motor are drive sprocket,
Four Athey wheels of remaininging are driven Athey wheel.
Further, the driving mechanism, placement mechanism, micro- sensing unit are both connected in control system.
Further, there are automatic running and remote control two kinds of operational modes of operation in robot.
Further, the control system is STM32 main control chip.
The beneficial effects of the present invention are:
1. the present invention using caterpillar belt structure, caterpillar belt structure robot compared with by deforming come the robot of ladder,
Can be without deformation, direct stairs, robot deforms required time, ladder efficiency during saving ladder
It is higher.
2. main control chip of the present invention is equipped with gyroscope, after the posture for putting object basket is calculated by gyroscope, use is desired
Horizontal attitude angle subtracts present attitude angle and just obtains an angular deviation, then carries out cascade PID operation with this deviation
Then output current value is just made to put object basket and is remained level with the control leveling motor output of this current value.
3. leveling motor makes to put object basket holding level, it is ensured that the stationarity of cargo avoids cargo because of angle tilt
And there is a situation where fall.
4. automatic running and remote control operation can enrich the method for operation of robot, the carrying suitable for different places.
5. the camera that micro- sensing unit includes is used for picture catching and feedback data, ultrasonic wave is for avoiding pedestrian and barrier
Hinder object etc..
Detailed description of the invention
Present pre-ferred embodiments are given, with reference to the accompanying drawing with the embodiment that the present invention will be described in detail.
Fig. 1 is entirety perspective view
Fig. 2 is entirety perspective view
Fig. 3 is entirety perspective view
Fig. 4 is that robot prepares right view when ladder
Fig. 5 is right view during robot climbing ladder
In figure: 1- side plate, 2- crawler belt, 3- Athey wheel, 4- transmission shaft, 5- support plate, 6- support plate fixed link, 7- leveling electricity
Machine, 8- synchronous belt, 9- synchronous pulley, 10- camera module, 11- driving motor, 12- put object basket, the fixed bracket of 13-, 14- rotation
Shaft, 15- ultrasonic wave, 16- bearing.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
As Figure 1-Figure 5, a kind of leveling transfer robot of the invention, comprising: driving mechanism, placement mechanism, micro- sense
Answer unit, control system；
The driving mechanism is by side plate 1, crawler belt 2, Athey wheel 3, transmission shaft 4, support plate 5, support plate fixed link 6, synchronization
Band 8, synchronous pulley 9, driving motor 11, center rest 13 form；
The placement mechanism by leveling motor 7, put object basket 12, rotary shaft 14, bearing 16 and form.
Preferably, the mode that mobile power source can be used in robot is powered.
Further, as shown in Figure 1-Figure 3, the driving mechanism passes through different Athey wheels by two driving motors 11 respectively
3 two crawler belts 2 of independent driving；Support plate 5 is mounted on 2 inside of crawler belt；Driving motor 11 is mounted on 1 inside of side plate；Driving motor
11 motor shaft and the transmission shaft 4 of Athey wheel 3 are fitted with synchronous pulley 9 and synchronous pulley 9 is connected by synchronous belt 8, makes to drive
The power of dynamic motor 11 is transmitted to Athey wheel 3 by way of toothed belt transmission；The side plate 1 of 13 both ends of center rest and two sides is solid
It is fixed.
Preferably, support plate 5 is mounted on 2 inside of crawler belt, guarantees that crawler belt 2 is not pressed；Robot bottom surface crawler belt 2 guarantees extremely
It is few to be contacted with two rank stair corner angle.
Further, as shown in Figure 1-Figure 3, the placement mechanism is mounted on the side plate 1 of driving mechanism；Side plate 1, leveling
Point machine 7, rotary shaft 14 are put object basket 12 and are sequentially connected；The motor axis connection of 14 one end of rotary shaft and leveling motor 7, the other end with
Bearing 16 connects.
Preferably, the center of gravity after integral inclined during ladder should be maintained at body structure.
Further, as shown in figure Fig. 1-Fig. 3, the Athey wheel 3 is equipped with 6, two shoes being connected with driving motor 11
Belt wheel 3 is drive sprocket, remaining four Athey wheel 3 is driven Athey wheel.
Further, the driving mechanism, placement mechanism, micro- sensing unit are both connected in control system.
Further, there are automatic running and remote control two kinds of operational modes of operation in robot.
Further, the control system is STM32 main control chip.
Ladder process: as shown in Figure 3, Figure 4, robot front end is provided with the inclined-plane of certain angle, for contacting stair rib
Angle makes entire robot start to creep upwards under the drive of crawler belt 2, guarantee 2 bottom surface of crawler belt at least while with two rank stair
Under conditions of corner angle contact, robot exactly can smoothly creep upwards；Guarantee that crawler belt 2 is not pressed under the support of support plate 5
It is recessed, it is kept in contact crawler belt 2 with stair always.
In crawling process: after calculating the posture for putting object basket by gyroscope, being subtracted with desired horizontal attitude angle existing
Attitude angle just obtain an angular deviation, then carry out cascade PID operation output current value with this deviation, then just use
This current value controls leveling motor output, makes to put object basket and remains horizontal.
Presently preferred embodiments of the present invention and basic principle is discussed in detail in the above content, but the invention is not limited to
Above embodiment, those skilled in the art should be recognized that also have on the premise of without prejudice to spirit of the invention it is various
Equivalent variations and replacement, these equivalent variations and replacement all fall within the protetion scope of the claimed invention.
Claims (7)
1. a kind of leveling transfer robot characterized by comprising driving mechanism, placement mechanism, micro- sensing unit, control system
System；
The driving mechanism is by side plate (1), crawler belt (2), Athey wheel (3), transmission shaft (4), support plate (5), support plate fixed link
(6), synchronous belt (8), synchronous pulley (9), driving motor (11), center rest (13) composition；
The placement mechanism by leveling motor (7), put object basket (12), rotary shaft (14), bearing (16) and form.
2. a kind of leveling transfer robot according to claim 1, it is characterised in that: the driving mechanism is driven by two
Motor (11) independently drives two crawler belts (2) by different Athey wheels (3) respectively；Support plate (5) is mounted on the inside of crawler belt (2)；
Driving motor (11) is mounted on the inside of side plate (1)；The motor shaft of driving motor (11) and the transmission shaft (4) of Athey wheel (3) are all pacified
Equipped with synchronous pulley (9) and synchronous pulley (9) is connected by synchronous belt (8), and the power of driving motor (11) is made to pass through synchronous belt
The mode of transmission is transmitted to Athey wheel (3)；The side plate (1) of center rest (13) both ends and two sides is fixed.
3. a kind of leveling transfer robot according to claim 1, it is characterised in that: the placement mechanism is mounted on driving
On the side plate (1) of mechanism；Side plate (1), rotary shaft (14), is put object basket (12) and is sequentially connected leveling point machine (7)；Rotary shaft (14)
The motor axis connection of one end and leveling motor (7), the other end are connect with bearing (16).
4. a kind of leveling transfer robot according to claim 1, it is characterised in that: the Athey wheel (3) is equipped with 6,
Two Athey wheels (3) being connected with driving motor (11) are drive sprocket, remaining four Athey wheel (3) is driven Athey wheel.
5. a kind of leveling transfer robot according to claim 1, it is characterised in that: the driving mechanism, placement mechanism,
Micro- sensing unit is both connected in control system.
6. a kind of leveling transfer robot according to claim 1, it is characterised in that: there are automatic running and remote control in robot
Run two kinds of operational modes.
7. a kind of leveling transfer robot according to claim 5, it is characterised in that: the control system is STM32 master
Control chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811232245.1A CN109533055A (en) | 2018-10-22 | 2018-10-22 | A kind of leveling transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811232245.1A CN109533055A (en) | 2018-10-22 | 2018-10-22 | A kind of leveling transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109533055A true CN109533055A (en) | 2019-03-29 |
Family
ID=65844596
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811232245.1A Withdrawn CN109533055A (en) | 2018-10-22 | 2018-10-22 | A kind of leveling transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109533055A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114987636A (en) * | 2022-08-05 | 2022-09-02 | 泉州迪特工业产品设计有限公司 | AGV dolly |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5920777A (en) * | 1982-07-24 | 1984-02-02 | Furukawa Mining Co Ltd | Transport vehicle |
| CN203876863U (en) * | 2013-12-20 | 2014-10-15 | 辽宁工程技术大学 | Power shopping cart |
| CN206243289U (en) * | 2016-11-28 | 2017-06-13 | 四川农业大学 | A kind of intelligent car body leveling dolly |
| CN107640235A (en) * | 2017-06-23 | 2018-01-30 | 中北大学 | A kind of loading robot that can be moved and can and climb building |
| CN108363404A (en) * | 2018-03-15 | 2018-08-03 | 中国农业大学 | High-precision agri-vehicle platform pre-detection active leveling system and leveling method |
-
2018
- 2018-10-22 CN CN201811232245.1A patent/CN109533055A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5920777A (en) * | 1982-07-24 | 1984-02-02 | Furukawa Mining Co Ltd | Transport vehicle |
| CN203876863U (en) * | 2013-12-20 | 2014-10-15 | 辽宁工程技术大学 | Power shopping cart |
| CN206243289U (en) * | 2016-11-28 | 2017-06-13 | 四川农业大学 | A kind of intelligent car body leveling dolly |
| CN107640235A (en) * | 2017-06-23 | 2018-01-30 | 中北大学 | A kind of loading robot that can be moved and can and climb building |
| CN108363404A (en) * | 2018-03-15 | 2018-08-03 | 中国农业大学 | High-precision agri-vehicle platform pre-detection active leveling system and leveling method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114987636A (en) * | 2022-08-05 | 2022-09-02 | 泉州迪特工业产品设计有限公司 | AGV dolly |
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| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190329 |
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| WW01 | Invention patent application withdrawn after publication |