CN110126929B - Self-propelled object carrying robot - Google Patents
Self-propelled object carrying robot Download PDFInfo
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- CN110126929B CN110126929B CN201910414953.5A CN201910414953A CN110126929B CN 110126929 B CN110126929 B CN 110126929B CN 201910414953 A CN201910414953 A CN 201910414953A CN 110126929 B CN110126929 B CN 110126929B
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- fixedly connected
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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
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
Abstract
The invention discloses a self-propelled object carrying robot which comprises a frame device, a power device, a crawler wheel device and a controller. The power device is positioned on the circular box body, the driving frame structure is driven to move, the crawler wheel devices are installed on two sides of the circular box body, and the controller is installed on one side of the circular box body. The intelligent crawler wheel device provides convenience for carrying a thing to a great extent, can automatically follow without manual traction, can automatically walk on a flat ground, can adapt to various slopes by intelligently adjusting the gradient of the crawler wheel device, easily realizes carrying the thing and climbing stairs, is labor-saving and efficient, and has high intelligent degree and strong practicability.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a self-propelled object carrying robot.
Background
At present, with the progress of social development accelerating, people's trip demand increases, and the article that carries in daily trip is too heavy, and article easily lose the scheduling problem for there are some troubles often in shopping or tourism, cause the trip fatigue, reduced the enjoyment of going out. In the market, various instruments for transporting articles are available, although many small instruments can assist in transportation on a flat ground, the small instruments are extremely laboursome when going upstairs and downstairs, and at present, no device for assisting in transportation when going upstairs and downstairs exists, so that a self-propelled carrying robot is urgently needed to solve the difficulty of carrying articles when going out, and the device is provided with a positioning system and does not need artificial traction, so that both hands of a person are fundamentally liberated.
Disclosure of Invention
The invention provides a self-propelled object carrying robot, which solves the inconvenience that people carry articles to go out and go upstairs at present.
The technical problem to be solved by the invention is realized by adopting the following technical scheme: a self-propelled object-carrying robot comprises a frame device, a power device, a crawler wheel device and a controller, wherein the frame device comprises a circular box body, a walking wheel, two circular grooves, a first crawler wheel positioning device, a second crawler wheel positioning device and an arc-shaped positioning device, and the two circular grooves are respectively positioned on two sides of the circular box body; the two groups of travelling wheels are respectively positioned on two sides of the circular box body, each travelling wheel comprises a cylindrical roller, a bearing steel ring, an annular track and a first crawler belt, and eighty cylindrical rollers are arranged in the circular groove; the bearing steel ring is sleeved on the cylindrical roller; the annular track is fixedly connected to the inner side of the bearing steel ring; the first crawler belt is arranged on the bearing steel ring; the first crawler wheel positioning device is arranged on one side of the circular box body; the first crawler wheel positioning device comprises a first motor, a first worm wheel, a first shaft and a first air cylinder, the first motor is arranged on one side of the circular box body, and the first worm is fixedly connected to an output shaft of the first motor; the first shaft is fixedly connected to the round box body; the first worm wheel is mounted on the first shaft through a bearing; the first worm is meshed with the first worm wheel to form worm and gear transmission; the first cylinder consists of a first cylinder body and a first cylinder piston rod, the first cylinder body is fixedly connected to the first worm wheel through a bolt, and the first cylinder piston rod is connected with the support rod through a hinge; the second crawler wheel positioning device is arranged on the other side of the circular box body and comprises a second motor, a second worm gear, a second shaft and a second air cylinder, and the second motor is arranged on one side of the circular box body; the second worm is arranged on an output shaft of the second motor; the second shaft is fixedly connected to the round box body; the worm wheel II is arranged on the shaft II through a bearing; the second worm is meshed with the second worm wheel to form worm and gear transmission; the second cylinder is composed of a second cylinder body and a second cylinder piston rod, the second cylinder body is fixedly connected to the second worm gear through a bolt, and the second cylinder piston rod is hinged to the support rod; the two arc-shaped positioning devices are respectively positioned on two sides of the circular box body; the arc-shaped positioning device comprises an arc-shaped pulley groove, an arc-shaped pressing sheet and a third air cylinder, the arc-shaped pulley groove is positioned on the circular box body, and a hole is formed in the arc-shaped pulley groove; the arc-shaped pressing sheet is fixedly connected to the tail end of a piston rod of a third air cylinder, the third air cylinder consists of a third air cylinder body and a third air cylinder piston rod, and the third air cylinder body is fixedly connected to the circular box body through a bolt; the piston rod of the third cylinder is fixedly connected with the arc-shaped pressing sheet through the hole; the power device is arranged on the round box body; the crawler wheel devices are provided with two groups and are respectively arranged on the arc-shaped positioning devices at the two ends of the circular box body; the controller is arranged on one side of the round box body.
The power device comprises a fixed plate, a first transmission device and a second transmission device, wherein the fixed plate is fixedly connected to the round box body; the first transmission device is positioned on the fixed plate; the first transmission device comprises a third motor, a first gear, a first support, a third shaft, a second gear and a first friction wheel, the third motor is fixedly connected to the fixed plate, and the first gear is arranged on an output shaft of the third motor; the first support is fixedly connected to the fixing plate; the shaft tee is arranged on the first support through a bearing; the second gear is arranged at one end of the third shaft and meshed with the first gear to form a gear pair; the first friction wheel is arranged at the other end of the third shaft and is in contact with the annular track; the second transmission device is fixedly connected to the fixed plate; the second transmission device comprises a fourth motor, a third gear, a second support, a fourth shaft, a fourth gear and a second friction wheel, and the fourth motor is fixedly connected to the fixed plate; the third gear is arranged on an output shaft of the fourth motor; the second support is fixedly connected to the fixing plate; the shaft four-way is arranged on the second support through a bearing; the fourth gear is arranged at one end of the fourth shaft and is meshed with the three phases of the gears to form a gear pair; and the second friction wheel is arranged at the other end of the fourth shaft and is in contact with the annular track.
The crawler wheel device comprises a wheel set device, a motor five, a motor six, a baffle, a support rod, a shaft seven, a roller, a crawler belt two and an inductor, wherein the wheel set device comprises a driving wheel I, an auxiliary wheel II, a driving wheel II, a shaft five and a shaft six, and the number of the baffle is two; the fifth shaft is fixedly connected to the baffle; the shaft six is fixedly connected to the baffle; the auxiliary wheel I is arranged on the shaft V through a bearing; the auxiliary wheel II is arranged on the shaft VI through a bearing; the motor V is arranged in the driving wheel I; the motor six is arranged in the driving wheel II; the first driving wheel is mounted on the baffle through a bearing; the driving wheel II is arranged on the baffle plate through a bearing; the supporting rod is fixedly connected with one side of the baffle; one end of the shaft seven is fixedly connected with one end of the baffle; the roller is arranged at the other end of the shaft seven through a bearing and is arranged in the arc-shaped pulley groove; the second crawler belt is arranged on the wheel set device; the inductor is arranged on the baffle.
The invention has the beneficial effects that: according to the invention, a user only needs to put articles into the circular box body and start the switch, the device can automatically follow the track of a person to walk, the hands of the person are released, the sensor is arranged on the device, manual intervention is not needed, the device can automatically avoid obstacles, and the speed of the device can be adjusted by controlling the button on the operator; when encountering stairs or needing climbing, the device controller sends an instruction to adjust the inclination of the crawler wheel device; the whole process is completed by the machine, so that the pressure of people on going is greatly relieved, and meanwhile, the weak groups can be helped, and the daily problems of the weak groups are solved.
Drawings
FIG. 1 is a first general structural diagram of the present invention;
FIG. 2 is a second schematic diagram of the overall structure of the present invention;
FIG. 3 is a schematic structural diagram of the power plant of the present invention;
fig. 4 is a schematic structural view of the track wheel device of the present invention.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the invention is further explained by combining the specific embodiments and the drawings.
As shown in fig. 1, 2 and 3, a self-propelled object-carrying robot includes a frame device 1, a power device 2, a track wheel device 3 and a controller 4, wherein the frame device 1 includes a circular box 11, two traveling wheels 12, two circular grooves 13, a first track wheel positioning device 14, a second track wheel positioning device 15 and an arc-shaped positioning device 16, and the two circular grooves 13 are respectively located at two sides of the circular box 11; the two groups of the walking wheels 12 are respectively positioned at two sides of the circular box body 11, each walking wheel 12 comprises a cylindrical roller 121, a bearing steel ring 122, an annular track 123 and a first crawler belt 124, and eighty cylindrical rollers 121 are arranged in the circular groove 13; the bearing steel ring 122 is sleeved on the cylindrical roller 121; the annular track 123 is fixedly connected to the inner side of the bearing steel ring 122; the first crawler belt 124 is arranged on the bearing steel ring 122; the first crawler wheel positioning device 14 is installed on one side of the circular box body 11; the first crawler wheel positioning device 14 comprises a first motor 141, a first worm 142, a first worm wheel 143, a first shaft 144 and a first air cylinder 145, wherein the first motor 141 is installed on one side of the circular box body 11, and the first worm 142 is fixedly connected to an output shaft of the first motor 141; the first shaft 144 is fixedly connected to the circular box body 11; the first worm wheel 143 is mounted on the first shaft 144 through a bearing; the first worm 142 is meshed with the first worm wheel 143 to form worm and gear transmission; the first air cylinder 145 consists of a first air cylinder body 1451 and a first air cylinder piston rod 1452, the first air cylinder body 1451 is fixedly connected to the first worm gear 143 through bolts, and the first air cylinder piston rod 1452 is connected with the support rod 35 through a hinge; the second crawler wheel positioning device 15 is installed on the other side of the circular box body 11, the second crawler wheel positioning device 15 comprises a second motor 151, a second worm 152, a second worm gear 153, a second shaft 154 and a second air cylinder 155, and the second motor 151 is installed on one side of the circular box body 11; the second worm 152 is arranged on an output shaft of the second motor 151; the second shaft 154 is fixedly connected to the circular box body 11; the second worm wheel 153 is mounted on the second shaft 154 through a bearing; the second worm 152 is meshed with the second worm wheel 153 to form worm and gear transmission; the second air cylinder 155 consists of a second air cylinder body 1551 and a second air cylinder piston rod 1552, the second air cylinder body 1551 is fixedly connected to the second worm wheel 153 through bolts, and the second air cylinder piston rod 1552 is in hinged connection with the support rod 35; two arc-shaped positioning devices 16 are arranged and are respectively positioned at two sides of the circular box body 11; the arc-shaped positioning device 16 comprises an arc-shaped pulley groove 161, an arc-shaped pressing sheet 162 and a third air cylinder 163, wherein the arc-shaped pulley groove 161 is positioned on the circular box body 11, and a hole 1611 is formed in the arc-shaped pulley groove 161; the arc-shaped pressing sheet 162 is fixedly connected to the tail end of a third cylinder piston rod 1632, the third cylinder 163 is composed of a third cylinder body 1631 and a third cylinder piston rod 1632, and the third cylinder body 1631 is fixedly connected to the round box body 11 through bolts; the piston rod 1632 of the third cylinder is fixedly connected with the arc-shaped pressing sheet 162 through the hole 1611; the power device 2 is arranged on the circular box body 11; two groups of crawler wheel devices 3 are respectively arranged on the arc-shaped positioning devices 16 at two ends of the circular box body 11; the controller 4 is arranged on one side of the round box body 11.
As shown in fig. 3, the power device 2 includes a fixing plate 21, a first transmission device 22, and a second transmission device 23, wherein the fixing plate 21 is fixedly connected to the circular box 11; the first transmission device 22 is positioned on the fixed plate 21; the transmission device I22 comprises a motor III 221, a gear I222, a support I223, a shaft III 224, a gear II 225 and a friction wheel I226, the motor III 221 is fixedly connected to the fixing plate 21, and the gear I222 is installed on an output shaft of the motor III 221; the first support 223 is fixedly connected to the fixing plate 21; the third shaft 224 is mounted on the first support 223 through a bearing; the second gear 225 is arranged at one end of the third shaft 224, and the first gear 222 is meshed with the second gear 225 to form a gear pair; the first friction wheel 226 is arranged at the other end of the third shaft 224 and is in contact with the annular track 123; the second transmission device 23 is fixedly connected to the fixed plate 21; the second transmission device 23 comprises a fourth motor 231, a third gear 232, a second support 233, a fourth shaft 234, a fourth gear 235 and a second friction wheel 236, wherein the fourth motor 231 is fixedly connected to the fixed plate 21; the third gear 232 is arranged on the output shaft of the fourth motor 231; the second support 233 is fixedly connected to the fixing plate 21; the shaft IV 234 is arranged on the support II 233 through a bearing; the fourth gear 235 is installed at one end of the fourth shaft 234 and is meshed with the third gear 232 to form a gear pair; the second friction wheel 236 is mounted on the other end of the fourth shaft 234 and contacts the circular track 123.
As shown in fig. 4, the track wheel device 3 includes a wheel set device 31, a motor five 32, a motor six 33, a barrier 34, a support rod 35, a shaft five 36, a roller 37, a track two 38, and a sensor 39, the wheel set device 31 includes a driving wheel one 311, an auxiliary wheel one 312, an auxiliary wheel two 313, a driving wheel two 314, a shaft five 315, and a shaft six 316, and there are two barrier 34; the fifth shaft 315 is fixedly connected to the baffle 34; the shaft six 316 is fixedly connected to the baffle 34; the first auxiliary wheel 312 is mounted on a fifth shaft 315 through a bearing; the second auxiliary wheel 313 is mounted on the sixth shaft 316 through a bearing; the motor five 32 is arranged inside the driving wheel one 311; the motor six 33 is arranged inside the driving wheel two 314; the first driving wheel 311 is arranged on the baffle 34 through a bearing; the second driving wheel 314 is mounted on the baffle plate 34 through a bearing; the supporting rod 35 is fixedly connected to one side of the baffle 34; one end of the shaft five 36 is fixedly connected with one end of the baffle 34; the roller 37 is arranged at the other end of the fifth shaft 36 through a bearing and is arranged in the arc-shaped pulley groove 161; the second crawler belt 38 is installed on the wheel set device 31; the inductor 39 is mounted on the baffle 34.
When in use: a person puts articles to be transported into the circular box body 11, when the robot walks on a flat road, the controller 4 arranged on one side of the circular box body 11 sends an instruction, the motor three 221 and the motor four 231 start to rotate simultaneously, the motor three 221 and the motor four 231 are fixedly connected on the fixing plate 21, the gear one 222 and the gear three 232 are respectively arranged on output shafts of the motor three 221 and the motor four 231 through keys, the gear one 222 and the gear three 232 are driven to rotate along with the rotation of the motor three 221 and the motor four 231, the support one 223 and the support two 233 are fixedly connected on the fixing plate 21, the shaft three 224 and the shaft four 234 are respectively arranged on the support one 223 and the support two 233 through bearings, the friction wheel one 226 is fixedly connected at one end of the shaft three 224, the gear two 225 is arranged at the other end of the shaft three 224 through a key, and the gear one 222 is meshed with the gear two 225, so that the gear one 222 drives the gear two 225 to rotate, the rotation of the second gear 225 will drive the first friction wheel 226 to rotate, the second friction wheel 236 is fixedly connected to one end of the fourth shaft 234, the fourth gear 235 is mounted at the other end of the fourth shaft 234 through a key, the third gear 232 is meshed with the fourth gear 235, the third gear 232 will drive the fourth gear 235 to rotate, the rotation of the fourth gear 235 will drive the second friction wheel 236 to rotate, the first friction wheel 226 and the second friction wheel 236 are in contact with the annular track 123, so the first friction wheel 226 and the second friction wheel 236 will drive the annular track 123 to rotate along with the rotation of the first friction wheel 226 and the second friction wheel 236, the annular track 123 is fixedly connected to the bearing steel ring 122, the circular box 11 is provided with an annular groove 13, the cylindrical rollers 121 are mounted in the annular groove 13, the bearing steel ring 122 is sleeved on the cylindrical rollers 121, so the bearing steel ring 122 will rotate relative to the circular box 11 along with the rotation of the annular track 123, and the first track, the rotation of the bearing steel ring 122 drives the first caterpillar track 124 to rotate, so that the frame device 1 finishes the walking function, at the moment, the fifth motor 32 and the sixth motor 33 in the caterpillar track wheel device 3 start to rotate, since motor five 32 is mounted in drive wheel one 311, motor six 33 is mounted in drive wheel two 314, therefore, the first driving wheel 311 and the second driving wheel 314 rotate along with the rotation of the fifth motor 32 and the sixth motor 33, and because the first driving wheel 311 and the second driving wheel 314 are arranged on the baffle plate 34 through bearings, the first auxiliary wheel 312 and the second auxiliary wheel 313 are arranged on the fifth shaft 315 and the sixth shaft 316 through bearings, the fifth shaft 315 and the sixth shaft 316 are fixedly connected on the baffle plate 34, therefore, when the first driving wheel 311 and the second driving wheel 314 rotate, the first auxiliary wheel 312 and the second auxiliary wheel 313 are driven to rotate, the second crawler belt 38 is sleeved on the first driving wheel 311, the first auxiliary wheel 312, the second auxiliary wheel 313 and the second driving wheel 314, so that the crawler wheel device 3 completes a walking function.
When the front side meets an obstacle and needs to turn, the sensor 39 sends a signal to the controller 4, the controller 4 sends an instruction, and differential rotation is formed by utilizing the difference of the rotating speeds of the motor three 221 and the motor four 231, so that the purpose of turning is achieved.
When the robot climbs a slope or needs to climb stairs, the sensor 39 sends a signal to the controller 4, the controller 4 sends a command, the motor one 141 starts to rotate, the worm one 142 is fixedly connected to the output shaft of the motor one 141, the worm one 142 rotates along with the rotation of the motor one 141, the worm one 142 and the worm wheel one 143 form worm-gear transmission, the worm wheel one 143 is mounted on the shaft one 144 through a bearing, the shaft one 144 is fixedly connected to the circular box body 11, the worm wheel one 143 rotates along with the rotation of the worm one 142, the first cylinder body 1451 is fixedly connected to the worm wheel one 143 through a bolt, the first cylinder 145 rotates along with the rotation of the worm wheel one 143, the controller 4 sends a command at the moment, the first cylinder piston rod 1452 is retracted, the support rod 35 is hinged to the first cylinder piston rod 1452, and the support rod 35 is fixedly connected to the baffle 34, the seventh shaft 36 is fixedly connected to the baffle 34, the roller 37 is mounted on the seventh shaft 36 through a bearing, so that when the first cylinder piston rod 1452 is retracted, the baffle 34 is driven to rotate around the roller 37, the second motor 151 starts to rotate, because the second worm 152 is fixedly connected to an output shaft of the second motor 151, the second worm 152 rotates along with the rotation of the second motor 151, because the second worm 152 and the second worm 153 form worm-gear transmission, and the second worm 153 is mounted on the second shaft 154 through a bearing, the second shaft 154 is fixedly connected to the circular box 11, so that the second worm 153 rotates along with the rotation of the second worm 152, and because the second cylinder body 1551 is fixedly connected to the second worm 153 through a bolt, the second cylinder 155 rotates along with the rotation of the second worm 153, at this time, the controller 4 gives an instruction, the second cylinder piston rod 2 is ejected, and because the supporting rod 15535 and the second cylinder piston rod 1552 form a hinge connection, and the support rod 35 is fixedly connected to the baffle 34, the shaft seven 36 is fixedly connected to the baffle 34, and the roller 37 is mounted on the shaft seven 36 through a bearing, so that the baffle 34 is driven to rotate around the roller 37 when the first cylinder piston rod 1452 is retracted, at this time, the third cylinder 163 starts to work, the third cylinder piston rod 1632 is ejected out, because the third cylinder body 1631 is fixedly connected to the circular box body 11 through bolts, the circular box body 11 is provided with the arc-shaped pulley groove 161, the arc-shaped pulley groove 161 is provided with a hole 1611, the third cylinder piston rod 1632 penetrates through the hole 1611, the tail end of the third cylinder piston rod is fixedly connected with the arc-shaped pressing sheet 162, and the roller 37 is mounted in the arc-shaped pulley groove 161, so that the arc-shaped pressing sheet 162 presses the roller 37 along with the ejection of the third cylinder piston rod 1632, so that the roller.
After the hill climbing is finished, the sensor sends a signal 39, the controller 4 sends an instruction, the third cylinder piston rod 1632 is retracted, so the arc-shaped pressing sheet 162 is not on the extrusion roller 37, the roller 37 can roll along the arc-shaped pulley groove 161, at this time, the first motor 141 and the second motor 151 rotate, the first cylinder 145 and the second cylinder 155 are driven to rotate through worm and gear transmission, the first cylinder piston rod 1452 is ejected, the second cylinder piston rod 1552 is retracted, and the crawler wheel device 3 is restored to the initial position.
Claims (3)
1. A self-propelled object carrying robot is characterized in that: the crawler wheel device comprises a frame device, a power device, crawler wheel devices and a controller, wherein the frame device comprises a circular box body, traveling wheels, circular grooves, a first crawler wheel positioning device, a second crawler wheel positioning device and arc-shaped positioning devices, and the number of the circular grooves is two, and the two circular grooves are respectively positioned on two sides of the circular box body; the two groups of travelling wheels are respectively positioned on two sides of the circular box body, each travelling wheel comprises a cylindrical roller, a bearing steel ring, an annular track and a first crawler belt, and eighty cylindrical rollers are arranged in the circular groove; the bearing steel ring is sleeved on the cylindrical roller; the annular track is fixedly connected to the inner side of the bearing steel ring; the first crawler belt is arranged on the bearing steel ring; the first crawler wheel positioning device is arranged on one side of the circular box body; the first crawler wheel positioning device comprises a first motor, a first worm wheel, a first shaft and a first air cylinder, the first motor is arranged on one side of the circular box body, and the first worm is fixedly connected to an output shaft of the first motor; the first shaft is fixedly connected to the round box body; the first worm wheel is mounted on the first shaft through a bearing; the first worm is meshed with the first worm wheel to form worm and gear transmission; the first cylinder consists of a first cylinder body and a first cylinder piston rod, the first cylinder body is fixedly connected to the first worm wheel through a bolt, and the first cylinder piston rod is connected with the support rod through a hinge; the second crawler wheel positioning device is arranged on the other side of the circular box body and comprises a second motor, a second worm gear, a second shaft and a second air cylinder, and the second motor is arranged on one side of the circular box body; the second worm is arranged on an output shaft of the second motor; the second shaft is fixedly connected to the round box body; the worm wheel II is arranged on the shaft II through a bearing; the second worm is meshed with the second worm wheel to form worm and gear transmission; the second cylinder is composed of a second cylinder body and a second cylinder piston rod, the second cylinder body is fixedly connected to the second worm gear through a bolt, and the second cylinder piston rod is hinged to the support rod; the two arc-shaped positioning devices are respectively positioned on two sides of the circular box body; the arc-shaped positioning device comprises an arc-shaped pulley groove, an arc-shaped pressing sheet and a third air cylinder, the arc-shaped pulley groove is positioned on the circular box body, and a hole is formed in the arc-shaped pulley groove; the arc-shaped pressing sheet is fixedly connected to the tail end of a piston rod of a third air cylinder, the third air cylinder consists of a third air cylinder body and a third air cylinder piston rod, and the third air cylinder body is fixedly connected to the circular box body through a bolt; the piston rod of the third cylinder is fixedly connected with the arc-shaped pressing sheet through the hole; the power device is arranged on the round box body; the crawler wheel devices are provided with two groups and are respectively arranged on the arc-shaped positioning devices at the two ends of the circular box body; the controller is arranged on one side of the round box body.
2. The self-propelled object carrying robot of claim 1, wherein: the power device comprises a fixed plate, a first transmission device and a second transmission device, wherein the fixed plate is fixedly connected to the round box body; the first transmission device is positioned on the fixed plate; the first transmission device comprises a third motor, a first gear, a first support, a third shaft, a second gear and a first friction wheel, the third motor is fixedly connected to the fixed plate, and the first gear is arranged on an output shaft of the third motor; the first support is fixedly connected to the fixing plate; the shaft tee is arranged on the first support through a bearing; the second gear is arranged at one end of the third shaft and meshed with the first gear to form a gear pair; the first friction wheel is arranged at the other end of the third shaft and is in contact with the annular track; the second transmission device is fixedly connected to the fixed plate; the second transmission device comprises a fourth motor, a third gear, a second support, a fourth shaft, a fourth gear and a second friction wheel, and the fourth motor is fixedly connected to the fixed plate; the third gear is arranged on an output shaft of the fourth motor; the second support is fixedly connected to the fixing plate; the shaft four-way is arranged on the second support through a bearing; the fourth gear is arranged at one end of the fourth shaft and is meshed with the three phases of the gears to form a gear pair; and the second friction wheel is arranged at the other end of the fourth shaft and is in contact with the annular track.
3. The self-propelled object carrying robot of claim 1, wherein: the crawler wheel device comprises a wheel set device, a motor five, a motor six, a baffle, a support rod, a shaft seven, a roller, a crawler belt two and an inductor, wherein the wheel set device comprises a driving wheel I, an auxiliary wheel II, a driving wheel II, a shaft five and a shaft six, and the number of the baffle is two; the fifth shaft is fixedly connected to the baffle; the shaft six is fixedly connected to the baffle; the auxiliary wheel I is arranged on the shaft V through a bearing; the auxiliary wheel II is arranged on the shaft VI through a bearing; the motor V is arranged in the driving wheel I; the motor six is arranged in the driving wheel II; the first driving wheel is mounted on the baffle through a bearing; the driving wheel II is arranged on the baffle plate through a bearing; the supporting rod is fixedly connected with one side of the baffle; one end of the shaft seven is fixedly connected with one end of the baffle; the roller is arranged at the other end of the shaft seven through a bearing and is arranged in the arc-shaped pulley groove; the second crawler belt is arranged on the wheel set device; the inductor is arranged on the baffle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910414953.5A CN110126929B (en) | 2019-05-17 | 2019-05-17 | Self-propelled object carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910414953.5A CN110126929B (en) | 2019-05-17 | 2019-05-17 | Self-propelled object carrying robot |
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| Publication Number | Publication Date |
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| CN110126929A CN110126929A (en) | 2019-08-16 |
| CN110126929B true CN110126929B (en) | 2020-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910414953.5A Active CN110126929B (en) | 2019-05-17 | 2019-05-17 | Self-propelled object carrying robot |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE60216963T2 (en) * | 2001-10-03 | 2007-10-18 | Galileo Mobility Instruments Ltd. | ADJUSTABLE DRIVING SYSTEM OF A VEHICLE |
| JP4644861B2 (en) * | 2002-09-20 | 2011-03-09 | ウラカミ合同会社 | A moving cart that is attracted to the surface by suction means such as negative pressure |
| CN105109565B (en) * | 2015-09-01 | 2018-07-10 | 陈丽冰 | Walking mechanism and the Moped Scooter and toy for assembling the walking mechanism |
| CN205345099U (en) * | 2015-11-17 | 2016-06-29 | 陈文全 | It is accessible from mule carriage assembly |
| CN206781903U (en) * | 2017-02-14 | 2017-12-22 | 山东赢创机械有限公司 | A kind of vehicle using motor |
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