CN110228070A - A kind of Mobile Intelligent Robot of more maneuver models - Google Patents
A kind of Mobile Intelligent Robot of more maneuver models Download PDFInfo
- Publication number
- CN110228070A CN110228070A CN201910406484.2A CN201910406484A CN110228070A CN 110228070 A CN110228070 A CN 110228070A CN 201910406484 A CN201910406484 A CN 201910406484A CN 110228070 A CN110228070 A CN 110228070A
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- pedestal
- pressure
- intelligent robot
- mobile intelligent
- damping
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Classifications
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- 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
- 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
- B25J19/0091—Shock absorbers
-
- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Mobile Intelligent Robots of more maneuver models, it is related to intelligent robot technology field, specially a kind of Mobile Intelligent Robot of more maneuver models, including buffering pedestal and stable support structure, hydraulic lifting structure is provided with below the buffering pedestal, the stable support structure includes support platform, damping buffering column, damping spring and piston boit, the lower end of the damping buffering column is internally provided with damping spring, is provided with power transmission structure below the stable support structure.The movement, which is stablized, has the intelligent robot for carrying function, the service performance of whole device is improved while increasing structure, equipment after improvement has good bumper and absorbing shock ability in use, reduce covibration of the equipment appeared in moving process as far as possible, it improves to the degree of stability for carrying object, it avoids equipment and object because what toppling over occurred in gravity center instability shows, effectively meets the use demand of people.
Description
Technical field
The present invention relates to intelligent robot technology field, specially a kind of Mobile Intelligent Robot of more maneuver models.
Background technique
Intelligent mobile robot is that collection environment sensing, dynamic decision and a planning, behaviour control and execution etc. are multi-functional
In the integrated system of one, it has concentrated sensor technology, information processing, electronic engineering, computer engineering, automation control work
The multi-disciplinary research achievement such as journey and artificial intelligence represents the highest achievement of electromechanical integration, is current scientific technological advance
One of most active field, as robot performance is constantly perfect, the application range of mobile robot greatly extends, and not only exists
It is widely used in the industries such as industry, agricultural, medical treatment, service, and in urban safety, national defence and space exploration field etc.
Nocuousness is applied well with dangerous situation, and therefore, mobile robot technology has obtained the common concern of countries in the world.
But the intelligent robot outside overall structure for being currently used for carrying operation is relatively simple, fortune in use
Movement Capabilities are more universal, determine the disposable transport capacity of equipment mostly with the size of shipping platform, and in the fortune of robot
Stability in defeated moving process is insufficient, and whole gravity center instability, may seriously make equipment when so as to cause transport
The shortcomings that toppling over.
Summary of the invention
In view of the deficiencies of the prior art, it the present invention provides a kind of Mobile Intelligent Robot of more maneuver models, solves
Overall structure is relatively simple outside intelligent robot mentioned above in the background art for carrying operation, in use
Transport capacity it is more universal, the disposable transport capacity of equipment is determined with the size of shipping platform mostly, and in robot
Transport moving process in stability it is insufficient, whole gravity center instability, may seriously make equipment when so as to cause transport
The problem of toppling over.
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of mobile intelligence of more maneuver models
Energy robot, including pedestal and stable support structure are buffered, hydraulic lifting structure, and liquid are provided with below the buffering pedestal
Stable support structure is provided at left and right sides of pressure lifting structure, the stable support structure includes support platform, damps and delay
Column, damping spring and piston boit are rushed, and is provided with damping buffering column below support platform, in the lower end of the damping buffering column
Portion is provided with damping spring, and damping spring is internally provided with piston boit, is provided with below the stable support structure dynamic
Power transmission structure, and the front and rear sides of power transmission structure are provided with mobile device.
Optionally, the buffering pedestal includes lower layer's pedestal, liner rubber pad, pressure-bearing spring, Pressure Block and upper layer pedestal,
It is provided with liner rubber pad above lower layer's pedestal, and is provided with pressure-bearing spring at left and right sides of liner rubber pad, institute
It states and is provided with Pressure Block above pressure-bearing spring, and be provided with upper layer pedestal above Pressure Block.
Optionally, between the lower surface of the liner rubber pad and the upper surface of lower layer's pedestal and liner rubber pad it is upper
It is to fit closely between surface and the lower surface of upper layer pedestal, and about lower layer's pedestal between pressure-bearing spring and Pressure Block
Center line is symmetrical, and upper layer pedestal constitutes elastic construction by pressure-bearing spring.
Optionally, the hydraulic lifting structure includes lifting column, pressure-bearing pedestal, mounting groove and power-assisted guide wheel, and lifting column
Lower section be provided with pressure-bearing pedestal, the lower end of the pressure-bearing pedestal is internally provided with mounting groove, and is provided with below mounting groove
Power-assisted guide wheel.
Optionally, the upper end of the lifting column is embedded in inside the lower end of lower layer's pedestal, and under pressure-bearing pedestal and lifting column
It is welding between end, and the center line between power-assisted guide wheel about pressure-bearing pedestal is symmetrical.
Optionally, to be fixedly connected between the support platform and the upper end of damping buffering column, and the outside of damping spring
Arc diameter is less than the inside arc diameter of damping buffering column, and piston boit is through the inside of damping spring.
Optionally, the power transmission structure includes being connected axis, outsourcing axle sleeve and transmission shaft, in the lower end of the linking axis
Portion is provided with outsourcing axle sleeve, and outsourcing axle sleeve is internally provided with transmission shaft.
It optionally, is welding between the linking axis and outsourcing axle sleeve, and in the central axes and transmission shaft of outsourcing axle sleeve
It coincides between axis, and the length of transmission shaft is greater than the length of outsourcing axle sleeve.
Optionally, the mobile device includes driven pedrail, driving wheel, electric rotation shaft and support bar, and driven pedrail
Internal left and right ends are provided with driving wheel, and the driving wheel is internally provided with electric rotation shaft, and is provided between driving wheel
Support bar.
Optionally, the driven pedrail is wrapped in the outer surface of driving wheel, and the central axes of driving wheel and electric rotation shaft
Central axes between coincide, and be connected between driving wheel by support bar.
The present invention provides a kind of Mobile Intelligent Robot of more maneuver models, have following the utility model has the advantages that increasing structure
While substantially increase the service performance of whole device, the equipment after improvement has good bumper and absorbing shock in use
Ability, as far as possible covibration of the reduction equipment appeared in moving process, improve to the degree of stability for carrying object,
It avoids equipment and object because what toppling over occurred in gravity center instability shows, effectively meets the use demand of people.
1. the movement, which is stablized, has the intelligent robot for carrying function, pass through lower layer's pedestal, liner rubber pad and upper layer base
Cooperation between seat, which constitutes the device, must buffer Base body part, can not only form elastic buffer by liner rubber pad
Ability, while the rigid contact friction between lower layer's pedestal and upper layer pedestal can also be avoided, and using pressure-bearing spring and hold
Being elastically engaged between wedge can constitute resilient support effect to upper layer pedestal.
It, can be to the horizontal high of pressure-bearing pedestal by lifting column 2. the movement, which is stablized, has the intelligent robot for carrying function
Support operation is adjusted in degree, and pressure-bearing pedestal can use the synchronizing moving that lifting column drives power-assisted guide wheel, until power-assisted guide wheel
It touches to form supporting role with ground, and power-assisted guide wheel can act in order to the transverse shifting of entire intelligent robot.
3. the movement, which is stablized, has the intelligent robot for carrying function, pass through support platform, damping buffering column, damping spring
The stable support structure of the device is constituted with piston boit, it can be under using the cooperation between damping buffering column and damping spring
The power transmission structure and mobile device of side carry out real-time cushioning buffer effect, and reduction mobile device as far as possible is being moved through
Generated vibration moves up conduction in journey, and damping buffering column has biggish down stroke.
4. the movement, which is stablized, has the intelligent robot for carrying function, pass through driven pedrail, driving wheel, electric rotation shaft and branch
Cooperation between stay constitutes the mobile device below the device, and the mobile device using multiple groups is whole equipment to object
Carrying forms power output, and wherein driven pedrail has biggish contact surface and frictional force, keeps mobile dynamical stability defeated
Out, and using support bar the stable headway between driving wheel can be kept.
Detailed description of the invention
Fig. 1 is main view external structure schematic diagram of the present invention；
Fig. 2 is main view complete section structural schematic diagram of the present invention；
Fig. 3 is damping buffering column enlarged structure schematic diagram of the present invention；
Fig. 4 is pressure-bearing pedestal complete section enlarged structure schematic diagram of the present invention；
Fig. 5 is partial enlargement structural representation at A of the present invention.
In figure: 1, buffering pedestal；101, lower layer's pedestal；102, liner rubber pad；103, pressure-bearing spring；104, Pressure Block；
105, upper layer pedestal；2, hydraulic lifting structure；201, lifting column；202, pressure-bearing pedestal；203, mounting groove；204, power-assisted guide wheel；
3, stable support structure；301, support platform；302, damping buffering column；303, damping spring；304, piston boit；4, power transmission
Structure；401, it is connected axis；402, outsourcing axle sleeve；403, transmission shaft；5, mobile device；501, driven pedrail；502, driving wheel；
503, electric rotation shaft；504, support bar.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term " on ",
The orientation or positional relationship of the instructions such as "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion " is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Fig. 1 to Fig. 5 is please referred to, the present invention provides a kind of technical solution: a kind of Mobile Intelligent Robot of more maneuver models,
Including buffering pedestal 1 and stable support structure 3, the lower section of buffering pedestal 1 is provided with hydraulic lifting structure 2, and hydraulic lifting knot
The left and right sides of structure 2 is provided with stable support structure 3, and buffering pedestal 1 includes lower layer's pedestal 101, liner rubber pad 102, holds
Pressing spring 103, Pressure Block 104 and upper layer pedestal 105, the top of lower layer's pedestal 101 are provided with liner rubber pad 102, and liner
The left and right sides of rubber pad 102 is provided with pressure-bearing spring 103, and the top of pressure-bearing spring 103 is provided with Pressure Block 104, and holds
The top of wedge 104 is provided with upper layer pedestal 105, between the lower surface of liner rubber pad 102 and the upper surface of lower layer's pedestal 101
And liner rubber pad 102 upper surface and upper layer pedestal 105 lower surface between be to fit closely, and pressure-bearing spring 103
Center line between Pressure Block 104 about lower layer's pedestal 101 is symmetrical, and upper layer pedestal 105 passes through pressure-bearing spring
103 constitute elastic construction, which, which stablizes, has the intelligent robot for carrying function, passes through lower layer's pedestal 101, liner rubber pad
Cooperation between 102 and upper layer pedestal 105, which constitutes the device, must buffer 1 main part of pedestal, not by liner rubber pad 102
Elastic buffer ability can be only formed, while the rigid contact between lower layer's pedestal 101 and upper layer pedestal 105 can also be avoided to rub
It wipes, and upper layer pedestal 105 can be constituted and be flexibly supported using being elastically engaged between pressure-bearing spring 103 and Pressure Block 104
Effect.
Hydraulic lifting structure 2 includes lifting column 201, pressure-bearing pedestal 202, mounting groove 203 and power-assisted guide wheel 204, and is gone up and down
The lower section of column 201 is provided with pressure-bearing pedestal 202, and the lower end of pressure-bearing pedestal 202 is internally provided with mounting groove 203, and mounting groove 203
Lower section be provided with power-assisted guide wheel 204, the upper end of lifting column 201 is inside the lower end of lower layer's pedestal 101, and pressure-bearing pedestal
It is welding between 202 and the lower end of lifting column 201, and the center line between power-assisted guide wheel 204 about pressure-bearing pedestal 202 is symmetrical
Distribution, which, which stablizes, has the intelligent robot for carrying function, can be to the level of pressure-bearing pedestal 202 by lifting column 201
Support operation is adjusted in height, and pressure-bearing pedestal 202 can use the synchronizing moving that lifting column 201 drives power-assisted guide wheel 204, directly
It touches to form supporting role to power-assisted guide wheel 204 and ground, and power-assisted guide wheel 204 can be in order to the cross of entire intelligent robot
To migration.
Stable support structure 3 includes support platform 301, damping buffering column 302, damping spring 303 and piston boit 304, and
The lower section of support platform 301 is provided with damping buffering column 302, and the lower end of damping buffering column 302 is internally provided with damping spring
303, and damping spring 303 is internally provided with piston boit 304, is between support platform 301 and the upper end of damping buffering column 302
It is fixedly connected, and the external arc diameter of damping spring 303 is less than the inside arc diameter of damping buffering column 302, and piston
For column 304 through the inside of damping spring 303, which, which stablizes, has the intelligent robot for carrying function, passes through support platform
301, damping buffering column 302, damping spring 303 and piston boit 304 constitute the stable support structure 3 of the device, utilize damping
Cooperation between bumper post 302 and damping spring 303 can power transmission structure 4 to lower section and mobile device 5 carry out in real time
Cushioning buffer effect, reduction mobile device 5 generated vibration in moving process as far as possible moves up conduction, and damps
Bumper post 302 has biggish down stroke.
The lower section of stable support structure 3 is provided with power transmission structure 4, and the front and rear sides of power transmission structure 4 are all provided with
It is equipped with mobile device 5, power transmission structure 4 includes linking axis 401, outsourcing axle sleeve 402 and transmission shaft 403, is connected under axis 401
End is internally provided with outsourcing axle sleeve 402, and outsourcing axle sleeve 402 is internally provided with transmission shaft 403, linking axis 401 and outsourcing axis
It is welding between set 402, and coincides between the central axes of outsourcing axle sleeve 402 and the central axes of transmission shaft 403, and transmission shaft
403 length is greater than the length of outsourcing axle sleeve 402.
Mobile device 5 includes driven pedrail 501, driving wheel 502, electric rotation shaft 503 and support bar 504, and driven pedrail
501 inside left and right ends are provided with driving wheel 502, and driving wheel 502 is internally provided with electric rotation shaft 503, and driving wheel
Support bar 504 is provided between 502, driven pedrail 501 is wrapped in the outer surface of driving wheel 502, and the axis of driving wheel 502
It coincides between line and the central axes of electric rotation shaft 503, and is connected between driving wheel 502 by support bar 504, the movement
Stablizing has the intelligent robot for carrying function, passes through driven pedrail 501, driving wheel 502, electric rotation shaft 503 and support bar 504
Between cooperation constitute the mobile device 5 below the device, using multiple groups mobile device 5 be whole equipment object is removed
Fortune forms power output, and wherein driven pedrail 501 has biggish contact surface and frictional force, keeps mobile dynamical stability defeated
Out, and using support bar 504 stable headway between driving wheel 502 can be kept.
In conclusion the movement stablize have carry function intelligent robot, whole device do not needed before use into
The operations such as row dismounting debugging, can directly use, and object to be delivered can be placed in the upper of buffering pedestal 1 by when use
Side, as far as possible holding object center of gravity are overlapped with equipment center of gravity, secondly can drive transmission by starting electric rotation shaft 503
It works while wheel 502 and driven pedrail 501, is entire using the mobile device 5 of multiple groups to realize the moving operation of equipment
Equipment forms power output to the carrying of object, and wherein driven pedrail 501 has biggish contact surface and frictional force, keeps moving
Dynamic dynamical stability output, and the stable headway between driving wheel 502 can be kept using support bar 504, in the shifting of equipment
The inclination and shaking that can lead to equipment during dynamic because of the out-of-flatness on ground, utilize damping buffering column 302 and damping spring 303
Between cooperation can power transmission structure 4 to lower section and mobile device 5 carry out real-time cushioning buffer effect, as far as possible
It reduces the generated vibration in moving process of mobile device 5 and moves up conduction, and damping buffering column 302 has biggish pushing
Stroke can use lifting column 201 and push pressure-bearing pedestal 202 and power-assisted guide wheel 204 when equipment needs to adjust move angle
Move down, until equipment is jacked up, the mobile rotation of 204 pushing equipment of power-assisted guide wheel is utilized to change travelling route.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of Mobile Intelligent Robot of more maneuver models, including buffering pedestal (1) and stable support structure (3), feature
It is: is provided with hydraulic lifting structure (2) below the buffering pedestal (1), and the left and right sides of hydraulic lifting structure (2) is equal
It is provided with stable support structure (3), the stable support structure (3) includes support platform (301), damping buffering column (302), resistance
Buddhist nun's spring (303) and piston boit (304), and damping buffering column (302), the damping are provided with below support platform (301)
The lower end of bumper post (302) is internally provided with damping spring (303), and damping spring (303) is internally provided with piston boit
(304), it is provided with power transmission structure (4) below the stable support structure (3), and the front and back of power transmission structure (4)
Two sides are provided with mobile device (5).
2. a kind of Mobile Intelligent Robot of more maneuver models according to claim 1, it is characterised in that: the buffering base
Seat (1) includes lower layer's pedestal (101), liner rubber pad (102), pressure-bearing spring (103), Pressure Block (104) and upper layer pedestal
(105), it is provided with liner rubber pad (102) above lower layer's pedestal (101), and the left and right two of liner rubber pad (102)
Side is provided with pressure-bearing spring (103), is provided with Pressure Block (104) above the pressure-bearing spring (103), and Pressure Block
(104) upper layer pedestal (105) are provided with above.
3. a kind of Mobile Intelligent Robot of more maneuver models according to claim 2, it is characterised in that: the liner rubber
Between the lower surface of rubber mat (102) and the upper surface of lower layer's pedestal (101) and the upper surface and upper layer of liner rubber pad (102)
It is to fit closely between the lower surface of pedestal (105), and about lower layer between pressure-bearing spring (103) and Pressure Block (104)
The center line of pedestal (101) is symmetrical, and upper layer pedestal (105) constitutes elastic construction by pressure-bearing spring (103).
4. a kind of Mobile Intelligent Robot of more maneuver models according to claim 1, it is characterised in that: the hydraulic liter
Drop structure (2) includes lifting column (201), pressure-bearing pedestal (202), mounting groove (203) and power-assisted guide wheel (204), and lifting column
(201) it being provided with below pressure-bearing pedestal (202), the lower end of the pressure-bearing pedestal (202) is internally provided with mounting groove (203),
And power-assisted guide wheel (204) are provided with below mounting groove (203).
5. a kind of Mobile Intelligent Robot of more maneuver models according to claim 4, it is characterised in that: the lifting column
(201) upper end is embedded in inside the lower end of lower layer's pedestal (101), and between pressure-bearing pedestal (202) and the lower end of lifting column (201)
To weld, and the center line between power-assisted guide wheel (204) about pressure-bearing pedestal (202) is symmetrical.
6. a kind of Mobile Intelligent Robot of more maneuver models according to claim 1, it is characterised in that: the support is flat
To be fixedly connected between platform (301) and the upper end of damping buffering column (302), and the external arc diameter of damping spring (303) is small
In the inside arc diameter of damping buffering column (302), and piston boit (304) is through the inside of damping spring (303).
7. a kind of Mobile Intelligent Robot of more maneuver models according to claim 1, it is characterised in that: the power passes
Defeated structure (4) includes being connected axis (401), outsourcing axle sleeve (402) and transmission shaft (403), inside the lower end of linking axis (401)
It is provided with outsourcing axle sleeve (402), and outsourcing axle sleeve (402) is internally provided with transmission shaft (403).
8. a kind of Mobile Intelligent Robot of more maneuver models according to claim 7, it is characterised in that: the linking axis
(401) be welding between outsourcing axle sleeve (402), and the central axes of the central axes of outsourcing axle sleeve (402) and transmission shaft (403) it
Between coincide, and the length of transmission shaft (403) be greater than outsourcing axle sleeve (402) length.
9. a kind of Mobile Intelligent Robot of more maneuver models according to claim 1, it is characterised in that: the mobile dress
Setting (5) includes driven pedrail (501), driving wheel (502), electric rotation shaft (503) and support bar (504), and driven pedrail (501)
Inside left and right ends be provided with driving wheel (502), the driving wheel (502) is internally provided with electric rotation shaft (503), and
Support bar (504) are provided between driving wheel (502).
10. a kind of Mobile Intelligent Robot of more maneuver models according to claim 9, it is characterised in that: the transmission
Crawler belt (501) is wrapped in the outer surface of driving wheel (502), and in the central axes of driving wheel (502) and electric rotation shaft (503)
It coincides between axis, and is connected between driving wheel (502) by support bar (504).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910406484.2A CN110228070A (en) | 2019-05-16 | 2019-05-16 | A kind of Mobile Intelligent Robot of more maneuver models |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910406484.2A CN110228070A (en) | 2019-05-16 | 2019-05-16 | A kind of Mobile Intelligent Robot of more maneuver models |
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| Publication Number | Publication Date |
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| CN110228070A true CN110228070A (en) | 2019-09-13 |
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ID=67860677
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|---|---|---|---|
| CN201910406484.2A Pending CN110228070A (en) | 2019-05-16 | 2019-05-16 | A kind of Mobile Intelligent Robot of more maneuver models |
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| CN112047264A (en) * | 2020-08-06 | 2020-12-08 | 东莞理工学院 | Remove intelligent robot that stably has transport function |
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Application publication date: 20190913 |
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| RJ01 | Rejection of invention patent application after publication |