CN111284582B - Multifunctional all-terrain transportation robot - Google Patents
Multifunctional all-terrain transportation robot Download PDFInfo
- Publication number
- CN111284582B CN111284582B CN202010223945.5A CN202010223945A CN111284582B CN 111284582 B CN111284582 B CN 111284582B CN 202010223945 A CN202010223945 A CN 202010223945A CN 111284582 B CN111284582 B CN 111284582B
- Authority
- CN
- China
- Prior art keywords
- motor
- gravity center
- goods shelf
- central axis
- shelf
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005484 gravity Effects 0.000 claims abstract description 97
- 230000000712 assembly Effects 0.000 claims abstract 2
- 238000000429 assembly Methods 0.000 claims abstract 2
- 230000006698 induction Effects 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 4
- 239000000523 sample Substances 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000003867 tiredness Effects 0.000 description 1
- 208000016255 tiredness Diseases 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
Abstract
The invention provides a multifunctional all-terrain transport robot, and belongs to the technical field of transport. The problem that the obstacle crossing capability of the existing transport robot is poor is solved. The multifunctional all-terrain transport robot comprises a chassis and wheel assemblies, wherein the chassis is provided with a tilting shaft horizontally extending along the left-right direction, a goods shelf capable of swinging around the central axis of the tilting shaft is arranged on the tilting shaft, a gravity center adjusting assembly for changing the inclination angle of the goods shelf is arranged on the goods shelf, and an auxiliary assembly for supporting the goods shelf and realizing auxiliary obstacle crossing when obstacle crossing is further arranged on the goods shelf. The invention has the advantages of strong obstacle surmounting capability, wide application range and the like.
Description
Technical Field
The invention belongs to the technical field of transportation, and relates to a transportation robot, in particular to a multifunctional all-terrain transportation robot.
Background
Currently, the full-automatic transportation robot is widely applied, and has the advantages that: can replace higher and higher manpower cost, has high durability and no tiredness, can execute tasks in polluted environment and dangerous environment, and can execute tasks with harm to human bodies.
The existing transport robots are mostly driven by four wheels or auxiliary driving wheels of universal wheels, the chassis is large in size and high in manufacturing cost, and the required walking space is large, so that the transport robots are not beneficial to moving and transferring of the robots. For this reason, chinese patent discloses a two-wheeled self-balancing transport robot [ grant bulletin number CN209176810U ], comprising a chassis; a left wheel assembly and a right wheel assembly; a balance sensing assembly; a control circuit board; a battery module; a container; the left wheel assembly and the right wheel assembly are symmetrically arranged along the travelling direction perpendicular to the left-right direction; the balance induction assembly, the control circuit board, the battery module and the container are symmetrically arranged along the advancing direction, and the container, the control circuit board and the battery are sequentially arranged from top to bottom along the height direction.
The container of the transport robot is directly fixed on the chassis, and the container cannot be inclined relative to the chassis, so that the container cannot enter a space with the height lower than that of the transport robot; the obstacle crossing capability is poor, and the capability of climbing steps or crossing complex ground is not provided; the container is cylindrical, the inner space is large, and any goods which deviate from the weight core line of the container can be put into the container to influence the gravity center of the container, so that the balance of the chassis of the transport robot is influenced.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a multifunctional all-terrain transport robot with strong obstacle crossing capability.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides a multi-functional all terrain transport robot, includes chassis and wheel subassembly, the chassis on be equipped with along the tilting axis of controlling direction horizontal extension, tilting axis on be equipped with and be equipped with around tilting axis's axis wobbling goods shelves, goods shelves on be equipped with the focus adjusting part that is used for changing goods shelves inclination, goods shelves on still be equipped with and be used for supporting goods shelves and realize the auxiliary assembly that assists the obstacle crossing when crossing the obstacle.
The upper part of the robot is composed of a goods shelf, an auxiliary assembly and a gravity center adjusting assembly, and when goods are arranged on the goods shelf, the upper part of the robot comprises the goods shelf, the auxiliary assembly, the gravity center adjusting assembly and the goods. When the goods shelf is in a vertical state, the gravity center of the upper part of the robot is positioned right above the central axis of the tilting shaft. Because the goods shelf can swing around the central axis of the tilting shaft, the chassis is not driven to tilt when the goods shelf tilts.
When encountering lower obstacle, the gravity center adjusting component makes the goods shelf incline, and the auxiliary component is matched to realize the crossing of the lower obstacle. When encountering upper obstacle, the gravity center adjusting component tilts the goods shelf so as to lower the robot to a proper height, and then the gravity center of the upper part of the robot in a tilted state is positioned right above the central axis of the tilting shaft under the action of the gravity center adjusting component, so that the upper part of the robot is balanced.
Since the shelf can swing around the central axis of the tilting shaft, the balance of the upper part of the robot can be adjusted by controlling the traveling speed of the robot. Specifically, when the upper part of the robot has a tendency to tilt forward, the traveling speed is increased to counteract the tilt; when the upper part of the robot has a tendency to tilt backwards, the travelling speed is reduced to counteract the tilt.
In the multifunctional all-terrain transportation robot, the gravity center adjusting assembly comprises the counterweight body and the power unit for driving the counterweight body to move, and when the goods shelf is in a vertical state, the gravity center of the power unit and the gravity center of the counterweight body are located right above the central axis of the tilting shaft.
The power unit can drive the weight body to move, rotate or swing, and when the power unit drives the weight body to move, the moving direction of the weight body is vertical to the tilting shaft; when the power unit drives the counterweight body to swing, the swinging center line of the counterweight body is parallel or coaxial with the tilting shaft. The counterweight body has the following functions: when the goods shelf is required to incline, the power unit drives the counterweight body to move so as to shift the gravity center of the counterweight body and incline the goods shelf to a specified direction; when the upper obstacle is encountered and the goods shelf tilts, the power unit drives the gravity center of the counterweight body to deviate to the side far away from the goods shelf tilt, so that the gravity center of the upper part of the robot moves to the position right above the central axis of the tilting shaft, and the upper part of the robot is in a balanced state.
The center of gravity adjustment assembly may also be a gyroscope.
In the multifunctional all-terrain transport robot, the power unit is a first motor fixed on the goods shelf, the counterweight body is arranged on the rotating shaft of the first motor, the central axis of the first motor and the central axis of the tilting shaft are located in the same plane, and the projection point of the gravity center of the counterweight body on the plane perpendicular to the central axis of the first motor is not coincident with the projection point of the gravity center of the first motor on the plane.
The center of gravity of the first motor is located on the central axis of the first motor, and the first motor drives the counterweight body to rotate when in operation, so that the center of gravity of the counterweight body moves circumferentially around the central axis of the first motor. According to the difference of the rotation angles of the counterweight body, the upper parts of robots with different inclination angles can be balanced.
In the multifunctional all-terrain transport robot, the central axis of the first motor is perpendicularly intersected with the central axis of the tilting shaft. When the goods shelf is in a vertical state, the central axis of the first motor extends vertically, and at the moment, the projection point of the gravity center of the counterweight body on the horizontal plane is not coincident with the projection point of the gravity center of the first motor on the horizontal plane. When the goods shelf leans forwards, the first motor drives the gravity center of the counterweight body to rotate to the rear of the tilting shaft, so that the gravity center of the upper part of the robot is changed, the gravity center is positioned right above the tilting shaft, and the balance of the upper part of the robot is maintained. When the goods shelf leans backwards, the first motor drives the gravity center of the counterweight body to rotate to the front of the tilting shaft, so that the gravity center of the upper part of the robot is changed, the gravity center of the upper part of the robot is positioned right above the tilting shaft, and the balance of the upper part of the robot is maintained. When the balance of the upper part of the robot is maintained, the first motor stops, so that the counterweight body is kept in the current state.
In the multifunctional all-terrain transport robot, the central axis of the first motor is parallel to the tilting shaft. When the goods shelf is inclined forwards, the first motor drives the gravity center of the counterweight body to rotate to the rear of the tilting shaft, so that the gravity center of the upper part of the robot is changed, the gravity center of the upper part of the robot is positioned right above the tilting shaft, and the balance of the upper part of the robot is maintained. When the goods shelf leans backwards, the first motor drives the gravity center of the counterweight body to rotate to the front of the tilting shaft, so that the gravity center of the upper part of the robot is changed, the gravity center of the upper part of the robot is positioned right above the tilting shaft, and the balance of the upper part of the robot is maintained.
In the above-mentioned multi-functional all-terrain transportation robot, the counter weight body include along the connecting portion of the axis symmetry setting of first motor and locate the balancing weight on the connecting portion, the focus of balancing weight is at the projection point on the plane that sets up perpendicularly with the axis of first motor and the focus of first motor does not coincide on this plane.
The shape of the connecting portion may be a disc shape, a long strip shape, an oval shape, a rectangular shape, or a columnar shape. When the connecting portion is symmetrically arranged along the central axis of the first motor, the gravity center position of the connecting portion is required to be changed by arranging the balancing weight on the connecting portion. The balancing weight is made of metal materials with high density, and when the goods shelf inclines, the balancing weight or the whole weight of the balancing weight and the connecting part is enough to keep balance on the upper part of the robot.
In the multifunctional all-terrain transport robot, the shelf is provided with a first connecting rod connected to the tilting shaft and a second connecting rod connected to the tilting shaft, and the gravity center adjusting assembly is located between the first connecting rod and the second connecting rod.
The chassis is provided with a support, the tilting shaft is arranged in the support in a penetrating way, and the two supports are symmetrically arranged along the central line extending forwards and backwards of the chassis. In order to realize the rotation of the goods shelf around the central axis of the tilting shaft, the following two setting modes are adopted: 1. a bearing is arranged between the tilting shaft and the support, and the first connecting rod and the second connecting rod are respectively fixedly connected with the tilting shaft; 2. the tilting shaft is fixed on the support, a bearing is arranged between the first connecting rod and the tilting shaft, and a bearing is also arranged between the second connecting rod and the tilting shaft. In order to ensure that the first connecting rod and the second connecting rod are uniformly stressed, the first connecting rod and the second connecting rod are symmetrically arranged along the central line extending forwards and backwards of the chassis, and the goods shelves are symmetrically arranged along the central line extending forwards and backwards of the chassis.
A cross rod is arranged between the first connecting rod and the second connecting rod, the cross rod is parallel to the tilting shaft, when the central axis of the first motor is perpendicularly intersected with the central axis of the tilting shaft, the first motor is fixed on the cross rod, and when the goods shelf is in a vertical state, the counterweight body is located right above/below the first motor. When the central axis of the first motor is parallel to the central axis of the tilting shaft, a vertical rod is arranged between the cross rod and the goods shelf, and the first motor is fixed on the vertical rod.
In the multifunctional all-terrain transport robot, the auxiliary assembly comprises a second motor fixed on the goods shelf and a swing arm arranged on a rotating shaft of the second motor, and a central axis of the second motor is parallel to the tilting shaft. Wherein, second motor is two and locates the left and right sides of goods shelves respectively, all is equipped with a swing arm in the pivot of every second motor. Besides the auxiliary obstacle surmounting function, the swing arm can be matched with the movement of the robot to realize the operations of touching/extruding various switches and the like, for example, when a floor button of an elevator is pressed, buttons with different heights can be pressed according to the swing angle of the swing arm.
In the multifunctional all-terrain transport robot, the goods shelf comprises a first shelf body positioned at the left side, a second shelf body positioned at the right side and at least one goods shelf arranged between the first shelf body and the second shelf body, and a goods placing groove and/or a hook for placing goods are formed in the goods shelf. The first support body, second support body, first connecting rod and second connecting rod link as an organic whole, and one of them second motor is located on the first support body, and another second motor is located on the second support body, and two symmetry settings. Wherein, the whole goods shelf is plate-shaped, which is favorable for posture adjustment.
The upper part of the first frame body and/or the second frame body is provided with a probe rod, and the probe rod can be matched with the inclination of the upper part of the robot to realize the operation of extruding various switches and the like.
In the above-mentioned multi-functional all terrain transport robot, the left portion of chassis is equipped with left mount pad, the right part of chassis is equipped with right mount pad, wheel subassembly including install on left mount pad the third motor, locate the epaxial left wheel of third motor, install on right mount pad the fourth motor and locate the epaxial right wheel of fourth motor, be equipped with the electric box on chassis or goods shelves, be equipped with the battery module in the electric box. The left wheel and the right wheel are symmetrically arranged, and the steering of the robot can be realized through the difference of the rotation speeds of the left wheel and the right wheel. When the electric box is fixed at the lower side of the chassis, the lowest height of the electric box is higher than the lowest height of the left wheel or the right wheel. The electric box can also be arranged at the lower part of the goods shelf. The battery module supplies power to the first motor, the second motor, the third motor and the fourth motor respectively.
In the multifunctional all-terrain transport robot, the chassis is provided with the control circuit board, the signal input end of the control circuit board is connected with the sensor and the balance sensing module, and the signal output end of the control circuit board is respectively connected with the wheel assembly, the gravity center adjusting assembly and the auxiliary assembly.
The sensor is arranged on the goods shelf and is mainly used for detecting the space height in front of the robot or detecting whether the front of the robot has an obstacle; the balance induction module is used for detecting the inclination state of the goods shelf. When the sensor detects that the upper obstacle exists, a signal is transmitted to the control circuit board, the control circuit board processes and analyzes whether the upper obstacle can pass through, and when the fact that the upper obstacle cannot pass through a front space is determined, the control circuit board drives the first motor to work, the first motor drives the counterweight body to rotate and enables the gravity center of the counterweight body to move forward, so that the gravity center of the upper part of the whole robot moves forward, and the goods shelves incline; when the goods shelf is inclined to an angle capable of passing through the upper obstacle, the control circuit board drives the first motor to reversely rotate, so that the gravity center of the counterweight body moves to the rear side of the central axis of the tilting shaft, and the goods shelf is kept in a balanced state by matching with the balance induction module. When the sensor detects that the lower obstacle exists, a signal is transmitted to the control circuit board, the control circuit board drives the first motor to work, the first motor drives the counterweight body to rotate and enables the gravity center of the counterweight body to move forward, so that the gravity center of the upper part of the whole robot moves forward, the goods shelf tilts, meanwhile, the second motor drives the swing arm to swing, the free end of the swing arm is in contact with the lower obstacle to buffer and support the upper part of the robot, and the swing arm is matched with the wheel assembly to realize the obstacle crossing.
The balance induction module can induce whether the upper part of the robot is in a balance state, when the upper part of the robot inclines forwards, the control circuit board controls the wheel assembly to accelerate, and when the upper part of the robot inclines backwards, the control circuit board controls the wheel assembly to decelerate.
Compared with the prior art, the multifunctional all-terrain transport robot has the following advantages:
the transport robot can enter a space with lower height, and can be matched with an auxiliary component arranged on a goods shelf to realize obstacle crossing action, so that the trafficability is good; the swing arm or the probe rod arranged on the goods shelf can be matched with the movement of the wheel assembly to realize the actions of touching/extruding various switch buttons, triggering signals and the like, so that the multifunctional vehicle has multifunction; because the device has a unique adjustable posture, the device can bear a large load and has strong loading capacity; and the application range is wide, the cost is low, and the use maintainability is good.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment provided by the present invention.
Fig. 2 is a front view of a first embodiment provided by the present invention.
Fig. 3 is a diagram showing a tilting state of a first embodiment provided by the present invention.
Fig. 4 is a front view of a second embodiment provided by the present invention.
Fig. 5 is a schematic structural view of a first embodiment of the present invention.
Fig. 6 is a side view of a first embodiment provided by the present invention.
Fig. 7 is a schematic view of obstacle surmounting according to a first embodiment of the present invention.
Fig. 8 is a front view of a fourth embodiment provided by the present invention.
In the figure, 1, a chassis; 2. a tilting shaft; 3. a first motor; 4. a connection part; 5. balancing weight; 6. a first link; 7. a second link; 8. a second motor; 9. swing arms; 10. a first frame body; 11. a second frame body; 12. a commodity shelf; 13. a storage groove; 14. a left mounting seat; 15. a right mounting seat; 16. a third motor; 17. a left wheel; 18. a fourth motor; 19. a right wheel; 20. an electric box; 21. a support; 22. a probe rod; 23. a cross bar; 24. and a vertical rod.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
Example 1
The multifunctional all-terrain transport robot shown in fig. 1 and 5 includes a chassis 1 and a wheel assembly. As shown in fig. 2, the left part of the chassis 1 is provided with a left mounting seat 14, the right part of the chassis 1 is provided with a right mounting seat 15, the wheel assembly comprises a third motor 16 arranged on the left mounting seat 14, a left wheel 17 arranged on the rotating shaft of the third motor 16, a fourth motor 18 arranged on the right mounting seat 15 and a right wheel 19 arranged on the rotating shaft of the fourth motor 18, the left wheel 17 and the right wheel 19 are symmetrically and coaxially arranged, and the steering of the robot can be realized through the difference of the rotating speeds of the left wheel 17 and the right wheel 19. The chassis 1 is provided with an electric box 20 fixed at the lower side of the chassis 1, the lowest height of the electric box 20 is higher than the lowest height of the left wheel 17 or the right wheel 19, and a battery module is arranged in the electric box 20. The battery modules supply power to the third motor 16 and the fourth motor 18, respectively.
As shown in fig. 2, two supports 21 are symmetrically arranged along a central line extending in the front-rear direction of the chassis 1 on the chassis 1, and a tilting shaft 2 parallel to the axis of the left wheel 17 is inserted into the two supports 21, wherein the tilting shaft 2 is located right below the central axes of the left wheel 17 and the right wheel 19. The tilting shaft 2 is connected with a first connecting rod 6 and a second connecting rod 7, and one ends of the first connecting rod 6 and the second connecting rod 7, which are far away from the tilting shaft 2, are fixedly connected with a goods shelf. In the present embodiment, the tilt shaft 2 is fixed to the support 21, and a bearing is provided between the first link 6 and the tilt shaft 2, and a bearing is also provided between the second link 7 and the tilt shaft 2. In order to ensure that the first connecting rod 6 and the second connecting rod 7 are uniformly stressed, the first connecting rod 6 and the second connecting rod 7 are symmetrically arranged along the central line extending forwards and backwards of the chassis 1, and the goods shelves are symmetrically arranged along the central line extending forwards and backwards of the chassis 1. A gravity center adjusting component is arranged between the first connecting rod 6 and the second connecting rod 7, and an auxiliary component for supporting the goods shelf and realizing auxiliary obstacle surmounting when the obstacle surmounting is arranged on the goods shelf.
As shown in fig. 5, the shelf comprises a first shelf body 10 positioned at the left side, a second shelf body 11 positioned at the right side and at least one shelf 12 arranged between the first shelf body 10 and the second shelf body 11, wherein a storage groove 13 for placing goods is arranged on the shelf 12, and the storage groove 13 horizontally extends along the left-right direction. The first frame body 10, the second frame body 11, the first connecting rod 6 and the second connecting rod 7 are connected into a whole, a probe rod 22 is arranged on the upper parts of the first frame body 10 and the second frame body 11, and the probe rod 22 can be matched with the inclination of the upper part of the robot to realize the operation of pressing various switches and the like.
The upper part of the robot is composed of a goods shelf, an auxiliary assembly and a gravity center adjusting assembly, and when goods are arranged on the goods shelf, the upper part of the robot comprises the goods shelf, the auxiliary assembly, the gravity center adjusting assembly and the goods. When the goods shelf is in a vertical state, the gravity center of the upper part of the robot is positioned right above the central axis of the tilting shaft 2. Because the goods shelf can swing around the central axis of the tilting shaft 2, the chassis 1 is not driven to tilt when the goods shelf tilts.
When encountering lower obstacle, the gravity center adjusting component makes the goods shelf incline, and the auxiliary component is matched to realize the crossing of the lower obstacle. When encountering upper obstacle, the gravity center adjusting component tilts the goods shelf so as to lower the robot to a proper height, and then the gravity center of the upper part of the robot in a tilted state is positioned right above the central axis of the tilting shaft 2 under the action of the gravity center adjusting component, so that the upper part of the robot is balanced.
Since the shelf can swing around the central axis of the tilting shaft 2, the balance of the upper part of the robot can be adjusted by controlling the traveling speed of the robot. Specifically, when the upper part of the robot has a tendency to tilt forward, the traveling speed is increased to counteract the tilt; when the upper part of the robot has a tendency to tilt backwards, the travelling speed is reduced to counteract the tilt.
As shown in fig. 1 and 3, the gravity center adjusting assembly comprises a counterweight body and a power unit for driving the counterweight body to move, and when the goods shelf is in a vertical state, the gravity center of the power unit and the gravity center of the counterweight body are located right above the central axis of the tilting shaft 2.
The power unit can drive the weight body to move, rotate or swing, and when the power unit drives the weight body to move, the moving direction of the weight body is vertical to the tilting shaft 2; when the power unit drives the counterweight body to swing, the swinging center line of the counterweight body is parallel or coaxial with the tilting shaft 2. The counterweight body has the following functions: when the goods shelf is required to incline, the power unit drives the counterweight body to move so as to shift the gravity center of the counterweight body and incline the goods shelf to a specified direction; when the upper obstacle is encountered and the goods shelf tilts, the power unit drives the gravity center of the counterweight body to deviate to the side far away from the goods shelf tilt, so that the gravity center of the upper part of the robot moves to the position right above the central axis of the tilting shaft 2, and the upper part of the robot is in a balanced state.
Specifically, as shown in fig. 2, the power unit is a first motor 3 fixed on the shelf, the counterweight body is arranged on the rotating shaft of the first motor 3, the central axis of the first motor 3 and the central axis of the tilting shaft 2 are located in the same plane, and the projection point of the gravity center of the counterweight body on the plane perpendicular to the central axis of the first motor 3 is not coincident with the projection point of the gravity center of the first motor 3 on the plane. The center of gravity of the first motor 3 is located on the central axis of the first motor 3, and the first motor 3 drives the counterweight body to rotate when working, so that the center of gravity of the counterweight body moves circumferentially around the central axis of the first motor 3. According to the difference of the rotation angles of the counterweight body, the upper parts of robots with different inclination angles can be balanced.
As shown in fig. 2, the central axis of the first motor 3 perpendicularly intersects with the central axis of the tilting shaft 2. When the shelf is in a vertical state, the central axis of the first motor 3 extends vertically, and at the moment, the projection point of the gravity center of the counterweight body on the horizontal plane is not coincident with the projection point of the gravity center of the first motor 3 on the horizontal plane. When the goods shelf is inclined forwards, the first motor 3 drives the gravity center of the counterweight body to rotate to the rear of the tilting shaft 2, so that the gravity center of the upper part of the robot is changed, the gravity center is positioned right above the tilting shaft 2, and the balance of the upper part of the robot is maintained. When the goods shelf leans backwards, the first motor 3 drives the gravity center of the counterweight body to rotate to the front of the tilting shaft 2, so that the gravity center of the upper part of the robot is changed, the gravity center of the upper part of the robot is positioned right above the tilting shaft 2, and the balance of the upper part of the robot is maintained. When the balance of the upper part of the robot is maintained, the first motor 3 is stopped, so that the weight body is maintained in the current state.
As shown in fig. 1 and 3, the counterweight body includes a connecting portion 4 symmetrically disposed along the central axis of the first motor 3 and a counterweight 5 disposed on the connecting portion 4, and a projection point of the center of gravity of the counterweight 5 on a plane perpendicular to the central axis of the first motor 3 is not coincident with a projection point of the center of gravity of the first motor 3 on the plane. The shape of the connecting portion 4 may be a disc shape, a strip shape, an ellipse shape, a rectangle shape or a column shape, and the connecting portion 4 in this embodiment is disc-shaped and is coaxially disposed with the central axis of the first motor 3. When the connecting portion 4 is symmetrically arranged along the central axis of the first motor 3, the weight 5 is required to be arranged on the connecting portion 4 to change the gravity center position. The counterweight 5 is made of a metal material with higher density, and when the shelf is inclined, the weight of the counterweight 5 or the whole weight of the counterweight 5 and the connecting part 4 is enough to keep the balance of the upper part of the robot.
As shown in fig. 2, a cross bar 23 is provided between the first link 6 and the second link 7, the cross bar 23 is parallel to the tilting shaft 2, the first motor 3 is fixed on the cross bar 23, and the counterweight body is located directly above the first motor 3 when the shelf is in a vertical state.
As shown in fig. 1 and 6, the auxiliary assembly includes a second motor 8 fixed on the shelf and a swing arm 9 provided on a rotation shaft of the second motor 8, and a central axis of the second motor 8 is parallel to the tilting shaft 2. Wherein, one of the second motors 8 is arranged on the first frame body 10, and the other second motor 8 is arranged on the second frame body 11 and is symmetrically arranged. A swing arm 9 is arranged on the rotating shaft of each second motor 8. Besides the auxiliary obstacle surmounting function, the swing arm 9 can be matched with the movement of the robot to realize the operations of touching/extruding various switches and the like, for example, when a floor button of an elevator is pressed, buttons with different heights can be pressed according to the swing angle of the swing arm 9.
In this embodiment, a control circuit board is disposed in the electric box 20, a signal input end of the control circuit board is connected with a sensor and a balance sensing module, and a signal output end of the control circuit board is connected with the wheel assembly, the gravity center adjusting assembly and the auxiliary assembly respectively.
The sensor can be a laser navigation module, a visual sensor, an ultrasonic detection module, a camera or the like, is arranged on the goods shelf, and is mainly used for detecting the space height in front of the robot or detecting whether the front of the robot has an obstacle or not; the balance induction module is a gyroscope and is used for detecting the inclination state of the goods shelf. When the sensor detects that the upper obstacle exists, a signal is transmitted to the control circuit board, the control circuit board processes and analyzes whether the upper obstacle can pass through, when the fact that the upper obstacle cannot pass through a front space is determined, the control circuit board drives the first motor 3 to work, the first motor 3 drives the counterweight body to rotate and enables the gravity center of the counterweight body to move forward, and therefore the gravity center of the upper part of the whole robot moves forward, and a goods shelf tilts; when the goods shelf is inclined to an angle capable of passing through the upper obstacle, the control circuit board drives the first motor 3 to reversely rotate, so that the gravity center of the counterweight body moves to the rear side of the central axis of the tilting shaft 2, and the goods shelf is kept in a balanced state by matching with the balance induction module.
When the sensor detects that the lower obstacle exists, a signal is transmitted to the control circuit board, the control circuit board drives the first motor 3 to work, the first motor 3 drives the weight body to rotate and enables the gravity center of the weight body to move forward, so that the gravity center of the upper part of the whole robot moves forward, the goods shelf tilts, meanwhile, the second motor 8 drives the swing arm 9 to swing, and as shown in fig. 7, the free end of the swing arm 9 is contacted with the lower obstacle to buffer and support the upper part of the robot, and the obstacle is overturned by matching with the wheel assembly. The specific working procedure is as follows:
1. the robot encounters steps in the running process, and the sensor sends out signals;
2. the swing arm 9 rotates forwards, and the upper part of the robot tilts forwards integrally;
3. the swing arm 9 rotates forwards to directly prop against the step, the upper part of the robot is inclined to form buffering and supporting functions, and the whole robot starts to climb over the step under the action of the driving force of the wheels. At this time, the robot has been tilted as a whole, and the position of the center of gravity thereof is lowered, thereby helping the robot to climb over the steps. Even if not facing the step, the robot can take this posture to help surmount the obstacle when walking on severe ground.
4. When the robot climbs up the step and enters the horizontal ground, the swing arm 9 rotates clockwise, and the weight plate rotates to adjust the gravity center of the upper part of the robot, so that the upper part of the robot is jointly promoted to recover to the vertical state.
In cooperation with the sensor and the robot's attitude tilting, the feeler lever 22 and the swing arm 9 in the upper part of the shelf can perform tasks such as pressing an elevator button, triggering a signal, etc.
The balance induction module can induce whether the upper part of the robot is in a balance state, when the upper part of the robot inclines forwards, the control circuit board controls the wheel assembly to accelerate, and when the upper part of the robot inclines backwards, the control circuit board controls the wheel assembly to decelerate.
Example two
The structural principle of this embodiment is basically the same as that of the first embodiment except that, as shown in fig. 4, the central axis of the first motor 3 is parallel to the tilting shaft 2. As shown in fig. 4, a vertical rod 24 is provided between the cross rod 23 and the shelf, and the first motor 3 is fixed to the vertical rod 24. When the goods shelf is inclined forwards, the first motor 3 drives the gravity center of the counterweight body to rotate to the rear of the tilting shaft 2, so that the gravity center of the upper part of the robot is changed, the gravity center of the upper part of the robot is positioned right above the tilting shaft 2, and the balance of the upper part of the robot is maintained. When the goods shelf leans backwards, the first motor 3 drives the gravity center of the counterweight body to rotate to the front of the tilting shaft 2, so that the gravity center of the upper part of the robot is changed, the gravity center of the upper part of the robot is positioned right above the tilting shaft 2, and the balance of the upper part of the robot is maintained.
Example III
The structural principle of this embodiment is basically the same as that of the first embodiment, except that the gravity center adjusting component is a gyroscope.
Example IV
The structural principle of this embodiment is basically the same as that of the first embodiment except that the electric box 20 is provided on the shelf. Specifically, as shown in fig. 8, an electric box 20 is provided between the first link 6 and the second link 7, and the electric box 20 is located above the center of gravity adjusting assembly.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (7)
1. The multifunctional all-terrain transport robot comprises a chassis (1) and wheel assemblies, and is characterized in that an inclined shaft (2) horizontally extending along the left-right direction is arranged on the chassis (1), a goods shelf capable of swinging around the central axis of the inclined shaft (2) is arranged on the inclined shaft (2), a gravity center adjusting assembly for changing the inclination angle of the goods shelf is arranged on the goods shelf, and an auxiliary assembly for supporting the goods shelf and realizing auxiliary obstacle crossing during obstacle crossing is also arranged on the goods shelf; the gravity center adjusting assembly comprises a counterweight body and a power unit for driving the counterweight body to move, and when the goods shelf is in a vertical state, the gravity center of the power unit and the gravity center of the counterweight body are both positioned right above the central axis of the tilting shaft (2); the power unit is a first motor (3) fixed on the goods shelf, the counterweight body is arranged on a rotating shaft of the first motor (3), the central axis of the first motor (3) and the central axis of the tilting shaft (2) are positioned in the same plane, and the projection point of the gravity center of the counterweight body on the plane perpendicular to the central axis of the first motor (3) is not overlapped with the projection point of the gravity center of the first motor (3) on the plane; the goods shelf is provided with a first connecting rod (6) connected to the tilting shaft (2) and a second connecting rod (7) connected to the tilting shaft (2), and the gravity center adjusting component is positioned between the first connecting rod (6) and the second connecting rod (7).
2. The multifunctional all-terrain transport robot according to claim 1, wherein the counterweight body comprises a connecting part (4) symmetrically arranged along the central axis of the first motor (3) and a counterweight (5) arranged on the connecting part (4), and the projection point of the gravity center of the counterweight (5) on a plane perpendicular to the central axis of the first motor (3) is not coincident with the projection point of the gravity center of the first motor (3) on the plane.
3. The multifunctional all-terrain transport robot according to claim 1 or 2, wherein the auxiliary assembly comprises a second motor (8) fixed on the goods shelf and a swing arm (9) arranged on the rotating shaft of the second motor (8), and the central axis of the second motor (8) is parallel to the tilting shaft (2).
4. The multifunctional all-terrain transport robot according to claim 1, wherein the shelf comprises a first shelf body (10) positioned at the left side, a second shelf body (11) positioned at the right side and at least one shelf (12) arranged between the first shelf body (10) and the second shelf body (11), and a storage groove (13) for placing goods is formed in the shelf (12).
5. The multifunctional all-terrain transport robot according to claim 1, wherein a left mounting seat (14) is arranged at the left part of the chassis (1), a right mounting seat (15) is arranged at the right part of the chassis (1), and the wheel assembly comprises a third motor (16) arranged on the left mounting seat (14), a left wheel (17) arranged on a rotating shaft of the third motor (16), a fourth motor (18) arranged on the right mounting seat (15) and a right wheel (19) arranged on a rotating shaft of the fourth motor (18).
6. The multifunctional all-terrain transport robot according to claim 1, 2, 3, 4 or 5, wherein a control circuit board is arranged on the chassis (1), a signal input end of the control circuit board is connected with a sensor and a balance induction module, and a signal output end of the control circuit board is respectively connected with the wheel assembly, the gravity center adjusting assembly and the auxiliary assembly.
7. A multifunctional all-terrain transport robot according to claim 1 or 2, characterized in that the central axis of the first motor (3) perpendicularly intersects the central axis of the tilting shaft (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010223945.5A CN111284582B (en) | 2020-03-26 | 2020-03-26 | Multifunctional all-terrain transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010223945.5A CN111284582B (en) | 2020-03-26 | 2020-03-26 | Multifunctional all-terrain transportation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111284582A CN111284582A (en) | 2020-06-16 |
| CN111284582B true CN111284582B (en) | 2023-11-17 |
Family
ID=71017830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010223945.5A Active CN111284582B (en) | 2020-03-26 | 2020-03-26 | Multifunctional all-terrain transportation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111284582B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941434B (en) * | 2020-08-11 | 2023-12-05 | 行星算力(深圳)科技有限公司 | Multifunctional wheel type carrying robot |
| CN112548984B (en) * | 2020-12-10 | 2022-04-12 | 逻腾（杭州）科技有限公司 | Rolling obstacle crossing robot with telescopic arm |
| CN112810716A (en) * | 2021-03-17 | 2021-05-18 | 章征凯 | Posture adjusting device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07187028A (en) * | 1993-12-28 | 1995-07-25 | Denken:Kk | Carrier |
| JPH11116181A (en) * | 1997-10-16 | 1999-04-27 | Mitsubishi Heavy Ind Ltd | Controlling method and device for revolving attitude of hung load using gyroscope |
| CN103948476A (en) * | 2014-05-05 | 2014-07-30 | 北京理工大学 | Two-wheeled wheelchair with multi-degree-of-freedom gravity center adjusting function |
| CN107225556A (en) * | 2017-07-01 | 2017-10-03 | 徐州乐泰机电科技有限公司 | A kind of removable mineral transporter |
| CN107297757A (en) * | 2017-08-27 | 2017-10-27 | 刘哲 | A kind of mobile robot |
| CN208084382U (en) * | 2018-02-02 | 2018-11-13 | 兰州理工大学 | A kind of gravity center adjusting mechanism for ladder climbing robot |
| CN208746123U (en) * | 2018-08-21 | 2019-04-16 | 坎德拉（深圳）科技创新有限公司 | A kind of self-balancing vehicle |
| CN211893454U (en) * | 2020-03-26 | 2020-11-10 | 行星算力(深圳)科技有限公司 | Multifunctional all-terrain transportation robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6915878B2 (en) * | 1994-05-27 | 2005-07-12 | Deka Products Limited Partnership | Self-balancing ladder and camera dolly |
| US7152882B2 (en) * | 2002-03-28 | 2006-12-26 | Sanyo Electric Co., Ltd. | Mobile carriage |
| JP4886201B2 (en) * | 2005-03-14 | 2012-02-29 | 株式会社日立製作所 | Mobile robot |
| FR3031044A1 (en) * | 2014-12-29 | 2016-07-01 | Parrot | ROLLER ROBOT AND HEARER WITH INCREASED OBSTACLE BREAK CAPABILITY |
-
2020
- 2020-03-26 CN CN202010223945.5A patent/CN111284582B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07187028A (en) * | 1993-12-28 | 1995-07-25 | Denken:Kk | Carrier |
| JPH11116181A (en) * | 1997-10-16 | 1999-04-27 | Mitsubishi Heavy Ind Ltd | Controlling method and device for revolving attitude of hung load using gyroscope |
| CN103948476A (en) * | 2014-05-05 | 2014-07-30 | 北京理工大学 | Two-wheeled wheelchair with multi-degree-of-freedom gravity center adjusting function |
| CN107225556A (en) * | 2017-07-01 | 2017-10-03 | 徐州乐泰机电科技有限公司 | A kind of removable mineral transporter |
| CN107297757A (en) * | 2017-08-27 | 2017-10-27 | 刘哲 | A kind of mobile robot |
| CN208084382U (en) * | 2018-02-02 | 2018-11-13 | 兰州理工大学 | A kind of gravity center adjusting mechanism for ladder climbing robot |
| CN208746123U (en) * | 2018-08-21 | 2019-04-16 | 坎德拉（深圳）科技创新有限公司 | A kind of self-balancing vehicle |
| CN211893454U (en) * | 2020-03-26 | 2020-11-10 | 行星算力(深圳)科技有限公司 | Multifunctional all-terrain transportation robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111284582A (en) | 2020-06-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111284582B (en) | Multifunctional all-terrain transportation robot | |
| JP4734666B2 (en) | 3-wheeled passenger car | |
| US20060149419A1 (en) | Movable robot without falling over | |
| US20110010066A1 (en) | Inverted wheel type moving body and method of controlling the same | |
| US20030184071A1 (en) | Mobile carriage | |
| JP4824492B2 (en) | Mobile robot | |
| CN111301560A (en) | Transport robot | |
| CN111169891A (en) | Intelligent carrying trolley | |
| KR20180086001A (en) | Moving flatform self-maintaining horizontal posture | |
| CN211893454U (en) | Multifunctional all-terrain transportation robot | |
| CN211893463U (en) | Transport robot | |
| CN212473728U (en) | Wheeled robot with parking function | |
| CN111874125B (en) | Wheeled robot with parking function | |
| CN116534160A (en) | Portable self-balancing carrier | |
| CN111661184B (en) | Multifunctional transportation robot | |
| JP2013163457A (en) | Overturn-prevention device for two-wheeled inversion type robot | |
| CN212471523U (en) | Multifunctional carrying robot | |
| CN116394267A (en) | Robot | |
| CN109941375A (en) | A kind of comprehensive self-balancing mobile robot based on infrared sensor | |
| CN212096375U (en) | Single-wheel robot | |
| JPH022675B2 (en) | ||
| CN111941435A (en) | Multifunctional carrying robot | |
| CN112238907A (en) | Intelligent robot capable of walking stably on multiple terrains | |
| CN111452061A (en) | Single-wheel robot | |
| CN112298427A (en) | Independent suspension balance car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |